Robot-description-builder 🦀

A Rust Crate for create (valid) Robot descriptions

robot-description-builder is a Rust crate for creating robot descriptions in multiple formats, like URDF, for use in various robotics and simulation applications such as ROS and Gazebo Simulator.

Installation

robot-description-builder can be installed from Crates.io using the following command: $ carge add robot-description-builder

Features

• Support for the Full URDF spec, fully compatible starting at ROS Indigo. (Transmissions are different before ROS Indigo, other features should work)
  • Support for all base URDF geometry types: Box, Cylinder, Sphere and Mesh.
• Mirroring of Kinematic chains.
• Easy cloning/renaming Kinematic chains by changing the group_id.

🚧UNDER CONSTRUCTION: EXPAND FEATURE LIST🚧

Compatibility chart

| Spec | Support | State | |:----:|:-------:|:-----:| | URDF | ✔ | Fully supported | | URDF Gazebo | 🔩/❌ | Extension unsupported, Base URDF compatibility avaible | | SDF | ❌ | Planned |

Using robot-description-builder

It is recommended to import only the items needed from the function or import the crate as rdb, since the crate name (robot_description_builder) is quite long. rust use robot_description_builder as rdb; use rdb::prelude::*; // TODO: EXPAND

🚧UNDER CONSTRUCTION: EXAMPLE🚧

Documentation

The documentation for this Rust Crate can be found on docs.rs.

🚧UNDER CONSTRUCTION: DOCUMENTATION IS UNFINISHED🚧

Roadmap

• [ ] Improve documentation.
• [ ] Add shorthand Link constructors.
• [ ] Add (partial) support for SDFormat.
• [ ] Add support for the Gazebo URDF extension support.
• [ ] (Optional) Add (partial) support for the MIT Drake URDF extension

Lessons

🚧UNDER CONSTRUCTION: ADD LESSONS/DESIGN DECISIONS🚧

License

robot-description-builder is licensed under the MIT license.