ros / urdfdom

URDF parser
http://ros.org/wiki/urdf
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Improvements for the URDF xsd specification #200

Open aminya opened 7 months ago

aminya commented 7 months ago

The improvements include specifications for:

This builds on top of the XSD changes from #183 and then fixes the remaining XSD issues related to:

The specification can be tested via the following (e.g. in VsCode with the XML extension):

<?xml-model href="https://raw.githubusercontent.com/aminya/urdfdom/xsd/xsd/urdf.xsd"?>
<robot name="test">

The above code is backward compatible with the parsers as it doesn't add a namespace to the robot tag. If a namespace is added, some parsers like Python's parser add ns0: before the tags. Not requiring a namespace makes it possible to verify the XML without changing the tags.