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ros / urdfdom

URDF parser
http://ros.org/wiki/urdf
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Docs? #45

Open mikepurvis opened 10 years ago

mikepurvis commented 10 years ago

Now that this is upstream, do we have API docs for it somewhere? I see nothing on ros.org, and a quick web search revealed nothing elsewhere either.

davetcoleman commented 10 years ago

Something better than http://docs.ros.org/api/urdf/html/?

Now that its outside of bloom we'd have to setup our own doxygen generator, right?

This is prob obvious, but you can get the same thing by just looking in the code header files right?

rhaschke commented 9 years ago

More docs on the API would be great definitely. Also some tutorials on how to use (and extend) the parser APIs would be great! @thomas-moulard: For example, is it possible to extend urdf_parser_py to parse own URDF tags? If so, can you point out examples?

rhaschke commented 9 years ago

@thomas-moulard: Is it possible to ignore unknown tags in urdf_parser_py? For gazebo tags, this is explicitly stated by xmlr.AggregateElement('gazebo', xmlr.RawType()). However, URDF can be extended arbitrarily (not only with gazebo tags), can't it?

kavonszadkowski commented 9 years ago

As far as I understand, URDF could be extended arbitrarily as it's only XML, after all, but it's not intended to be freely extendable. We faced the same problem a while ago and decided to annotate it rather than changing the URDF parser itself. You can check out our (not yet finalized) solution here.

FSund commented 2 years ago

I was looking for a quick example of how to parse an URDF using urdfdom yesterday, and was unable to find anything anywhere.

Even something as simple as the following would have been of great help

#include <urdf_parser/urdf_parser.h>

std::string xml;
nh.getParam("robot_description", xml);
urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(xml);

I would like to help, but I am not sure where and how I should go about it. An example in the urdfdom README is the first thing that comes to mind. Perhaps the ROS Tutorial on URDF should also be updated. Does anyone have any preference?