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
• 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.