Crate urdf_rs

urdf-rs

URDF parser for Rust.

Only link and joint are supported.

Example

You can access urdf elements like below example.

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

OpenRR Community

Here is a discord server for OpenRR users and developers.

Modules

utils

Structs

Axis

Calibration

Collision

Color

Dynamics

Inertia

Inertial

Joint

Urdf Joint element See http://wiki.ros.org/urdf/XML/joint for more detail.

JointLimit

Link

Urdf Link element See http://wiki.ros.org/urdf/XML/link for more detail.

LinkName

Mass

Material

Mimic

Pose

Robot

Top level struct to access urdf.

SafetyController

Texture

UrdfError

Vec3

Vec4

Visual

Enums

Geometry

JointType

Functions

read_file

Read urdf file and create Robot instance

read_from_string

Read from string instead of file.

write_to_string

Type Aliases

Result

Alias for a Result with the error type UrdfError.