Closed doudou closed 8 years ago
Hm, this is a base package, I don't want to put too much functionality into it and add dependencies to it. Please put this functionality inside of a second library, that depends on the transformer. By the way, we already got a working URDF transformer importer for orocos_cpp.
For what it's worth, the sdformat library loads URDF as well (converting it to SDF)
This provides the functionality to use a SDF file to initialize a transformer configuration object. In addition, it extends the transformer configuration to store transform-to-joint information (pure names), something that could be used for other robot description formats as well.
The functionality is located in a single file which is not loaded by default, thus keeping the dependency on control/ruby_sdformat optional.