Introduction

Just put the hpp file and cpp files into your project, then #include "path/to/parse_urdf.hpp", now you can parse the urdf file by just calling the function parse_urdf()

Usage

/**
 * @brief parse urdf parameters from the urdf file
 * @return `vector<vector<double>>`: The first dim is joint_index - 1, and 
 * the second dim containing the corresponding x,y,z,r,p,y of the joint
 */
std::vector<std::vector<double>> parse_urdf(const std::string &urdfPath);

Demo

# cpp version
cd example && mkdir build && cd build && cmake .. && make
./parse path/to/your/urdf/file
# python version (>3.6)
cd python_version
python parse_urdf.py path/to/your/urdf/file