urdf-rs

Build Status

URDF parser using serde-xml-rs for rust.

Only link and joint are supported.

Documentation

Example

You can access urdf elements like below example.

rust extern crate urdf_rs; let urdf_robo = urdf_rs::read_file("sample.urdf").unwrap(); let links = urdf_robo.links; println!("{:?}", links[0].visual.origin.xyz); let joints = urdf_robo.joints; println!("{:?}", joints[0].origin.xyz);

Limitation

order of elements

You have to repeat "link" tags and "joint" tags in the urdf, like

<link /> <link /> <link /> <joint /> <joint /> <joint />

Below style does not work now.

<link /> <joint /> <link /> <joint /> <link /> <joint />

Mesh