Show EOL distros:
Package Summary
A library to access URDFs using the DOM model.
- Maintainer: Ioan Sucan <isucan AT willowgarage DOT com>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau
- License: BSD
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: indigo-devel)
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: indigo-devel)
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: indigo-devel)
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: indigo-devel)
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: melodic-devel)
Package Summary
Python implementation of the URDF parser.
- Maintainer status: maintained
- Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
- Author: Thomas Moulard, David Lu, Kelsey Hawkins, Antonio El Khoury, Eric Cousineau, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros/urdf_parser_py/issues
- Source: git https://github.com/ros/urdf_parser_py.git (branch: melodic-devel)
Contents
Documentation
The urdfdom_py package provides the urdf_parser_py Python module providing both functions to parse an URDF model from a file or the parameter server and Python classes mapping the URDF information to a Python structure.
The display_urdf script allows the user to display the parsing result. It can be used either with a path to an URDF file (i.e. rosrun urdf_parser_py display_urdf /tmp/robot.urdf) or without any argument. In this case, it connects to the parameter server to retrieve the robot configuration.
1 # Display the PR-2 model.
2 rosrun urdf_parser_py display_urdf `rospack find pr2_mechanism_model`/pr2.urdf
History
This package comes from the following prior packages: urdfpy, urdf_python, urdf_parser_python, and robot_model_py.
urdf_parser_py presently has its own package page, which redirects here.
Python API
Here is a brief example showing the different ways to load/parse a URDF model.
1 # Load the urdf_parser_py manifest, you use your own package
2 # name on the condition but in this case, you need to depend on
3 # urdf_parser_py.
4 import roslib; roslib.load_manifest('urdfdom_py')
5 import rospy
6
7 # Import the module
8
9 from urdf_parser_py.urdf import URDF
10
11 # 1. Parse a string containing the robot description in URDF.
12 # Pro: no need to have a roscore running.
13 # Cons: n/a
14 # Note: it is rare to receive the robot model as a string.
15 robot = URDF.from_xml_string("<robot name='myrobot'></robot>")
16
17 # - OR -
18
19 # 2. Load the module from a file.
20 # Pro: no need to have a roscore running.
21 # Cons: using hardcoded file location is not portable.
22 robot = URDF.from_xml_file()
23
24 # - OR -
25
26 # 3. Load the module from the parameter server.
27 # Pro: automatic, no arguments are needed, consistent
28 # with other ROS nodes.
29 # Cons: need roscore to be running and the parameter to
30 # to be set beforehand (through a roslaunch file for
31 # instance).
32 robot = URDF.from_parameter_server()
33
34 # Print the robot
35 print(robot)
Once you have retrieved the robot object, please consult the package Python API to know how to browse the structure.
