# srdfdom

**Repository Path**: simonliu009/srdfdom

## Basic Information

- **Project Name**: srdfdom
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: ros2
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-11-25
- **Last Updated**: 2025-11-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

srdfdom
=======

Parser for the Semantic Robot Description Format (SRDF).

Includes a C++ and a Python parser, as well as a C++ writer.

## GitHub Actions - Continuous Integration

[![Formatting(pre-commit)](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/srdfdom/actions/workflows/format.yml?query=branch%3Aros2) [![BuildAndTest](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/srdfdom/actions/workflows/industrial_ci_action.yml?query=branch%3Aros2) [![codecov](https://codecov.io/gh/ros-planning/srdfdom/branch/ros2/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/srdfdom)

[![Code Coverage Grid](https://codecov.io/gh/ros-planning/srdfdom/branch/ros2/graphs/tree.svg)](https://codecov.io/gh/ros-planning/srdfdom/branch/ros2/graphs/tree.svg)

## Authors

Original reflection implementation for SDF and URDF.

* Thomas Moulard - `urdfpy` implementation, integration
* David Lu - `urdf_python` implementation, integration
* Kelsey Hawkins - `urdf_parser_python` implementation, integration
* Antonio El Khoury - bugfixes
* Eric Cousineau - reflection (serialization?) changes
Reused for srdf python parser
* Guillaume Walck - `srdfpy` conversion, integration
* Dave Coleman - `srdf_writer.cpp` implementation

## C++ example

`test/test_parser.cpp` contains examples of how to access the SRDF elements from the C++ parser.

## Python example

`test/test.py` contains examples on how to access the SRDF elements from the Python parser.

`scripts/display_srdf` reads SRDF from a file given in a command line argument and displays it in a YAML format.
If an output option (`-o <filename>`) is provided, it dumps the XML (re-generated from parsed input XML) to file.

example:

    ros2 run srdfdom display_srdf test/resources/pr2_desc.3.srdf

## Test

    colcon test --packages-select srdfdom