Comments (4)
urdf_parser and urdf_interface were deprecated in ROS Groovy. They have been removed in ROS Hydro.
We now have urdf, urdfdom and urdfdom_headers.
urdfdom_headers is a library containing just header files for the data structures of a parsed URDF. urdfdom is a library that populates such datastructures by parsing URDF files.
Additionally, we now have urdf_parser_plugin, which provides a simple interface (a parse function) for parsers to fill the datastructures mentioned above. So urdfdom is used to trivially implement such a parse function.
The advantage of having this abstract interface is that we can use other parsers too. For example, collada_urdf can provide the same plugin interface and parse collada files in order to fill in the same URDF datastructures.
Because these are plugins, we need not link against all parser libraries. So we will not be yet again delayed in releasing packages for distros where the collada debs are missing.
urdf is a ROS package that uses collada_urdf and urdfdom (actually, plugin intefaces) to parse different types of files, using different parsers, into the same datastructures in urdf_headers.
from urdfdom.
Above you said collada_urdf
but it should be collada_parser
if i'm not mistaken
from urdfdom.
yes, collada_parser. sorry about that.
from urdfdom.
I've done my best to document what you just said here: http://www.ros.org/wiki/urdf#Components
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Related Issues (20)
- Question: check_urdf does not take into account transmission tag, wrong behaviour ? HOT 1
- Invalid path in urdfdom_INCLUDE_DIRS on Windows installation using vcpkg
- Using wrong headers HOT 2
- Deprecation warning on urdfdom_parser with Clang HOT 2
- check_urdf: no loop detection
- Branch urdfdom for Galactic HOT 5
- Usage of `version` attribute in `robot` xml-node HOT 2
- [cmake] urdf_LIBRARIES is still wrong HOT 2
- Feature request: check_urdf should be able to read from std_in HOT 2
- parseJointLimits() does not parse acceleration limits
- Joint limits (vel, effort) are checked even when the joint is continuous type.
- Build Status link in README.md is broken HOT 2
- Use tinyxml2 instead of tinyxml HOT 3
- Remove tinyxml2 from public API HOT 2
- Cannot parse capsule error HOT 1
- Fixed joints parse limits but not axis
- Add support for quaternion in URDF HOT 3
- Removing console_bridge for Logging HOT 4
- support export URDF HOT 1
- Don't use (outdated) self-provided gtest version (especially if another version is installed already) HOT 7
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