Crate urdf_rs

urdf-rs

URDF parser using serde-xml-rs for rust.

Only link and joint are supported.

Examples

You can access urdf elements like below example.

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

Modules

utils

Structs

Axis
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
Vec3
Visual

Enums

Geometry
JointType
UrdfError

Functions

read_file	Read urdf file and create Robot instance
read_from_string	Read from string instead of file.

Type Definitions

Result