search

robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
177 stars 67 forks source link

Add xsd of urdf format supported by iDynTree #214

Open traversaro opened 8 years ago

traversaro commented 8 years ago

iDynTree supports the urdf format informally defined in http://wiki.ros.org/urdf/XML plus some extensions (defined in https://github.com/robotology/idyntree/blob/master/doc/model_loading.md).

It would be convenient to add an xsd of the urdf format supported by iDynTree, based on the upstream one available at https://github.com/ros/urdfdom/blob/master/xsd/urdf.xsd .

francesco-romano commented 8 years ago

If we want to add support to validation, I fear (but I'm happy) to move away from tinyxml. A good alternative can be Xerces

francesco-romano commented 8 years ago

xerces-c is available on brew (3.1.4), ubuntu and debian (3.1.1 which are end of 2014, 3.1.3 on new ubuntu and debian testing)