# srdfdom

**Repository Path**: robotization/srdfdom

## Basic Information

- **Project Name**: srdfdom
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: foxy
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-02-08
- **Last Updated**: 2025-02-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

srdfdom
=======

Parser for the Semantic Robot Description Format (SRDF).

Includes a cpp and a python parser, as well as a cpp writer.

## GitHub Actions - Continuous Integration

[![Formatting(pre-commit)](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml/badge.svg?branch=foxy)](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml?query=branch%3Afoxy) [![BuildAndTest](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml/badge.svg?branch=foxy)](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml?query=branch%3Afoxy) [![codecov](https://codecov.io/gh/ros-planning/srdfdom/branch/foxy/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/srdfdom)

[![Code Coverage Grid](https://codecov.io/gh/ros-planning/srdfdom/branch/foxy/graphs/tree.svg)](https://codecov.io/gh/ros-planning/srdfdom/branch/foxy/graphs/tree.svg)

## Authors

Original reflection implementation for SDF and URDF.

* Thomas Moulard - `urdfpy` implementation, integration
* David Lu - `urdf_python` implementation, integration
* Kelsey Hawkins - `urdf_parser_python` implementation, integration
* Antonio El Khoury - bugfixes
* Eric Cousineau - reflection (serialization?) changes
Reused for srdf python parser
* Guillaume Walck - `srdfpy` conversion, integration
* Dave Coleman - `srdf_writer.cpp` implementation

## C++ example

test_parser.cpp contains examples how to access the srdf elements from the cpp parser

## Python example

test.py contains examples how to access the srdf elements from the python parser

display_srdf reads a srdf from a file given in command line argument
or from parameter server (robot_description_semantic) and displays it in a yaml format
if an output option (-o <filename>) is provided, dumps the xml (re-generated from parsed input xml)

example:

    rosrun srdfdom display_srdf test/res/pr2_desc.3.srdf

## Test

    catkin_make run_tests_srdfdom