urdfdom ☆
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Description:
Unified Robot Description Format (URDF) parser
Type: Formula  |  Tracked Since: Dec 28, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: robotics ros urdf parser c-plus-plus
Install: brew install urdfdom
About:
Urdfdom is a C++ library that provides a robust parser for the Unified Robot Description Format (URDF), which is the standard XML representation for robot models in ROS. It allows developers to load and interpret complex robot kinematics, visual, and collision geometries directly into their applications. This library serves as a foundational component for simulation, motion planning, and control systems in robotics.
Key Features:
  • Parses URDF XML into a C++ object model
  • Independent of ROS core for broader integration
  • Handles kinematic chains, joints, and links
  • Supports visual and collision geometry definitions
Use Cases:
  • Loading robot models into custom simulation engines
  • Building kinematic and dynamic analysis tools
  • Integrating robot descriptions into non-ROS applications
Alternatives:
  • SDF (Simulation Description Format) – SDF is a newer, more feature-rich format used by Gazebo, offering better support for physics and sensors, but URDF remains the standard for ROS kinematics.
  • KDL (Kinematics and Dynamics Library) – KDL focuses on kinematic and dynamic computation, while Urdfdom focuses on parsing the model definition; they are often used together.
Version History
Detected Version Rev Change Commit
Sep 11, 2025 3:15am 0 VERSION_BUMP f876cef1
Sep 13, 2024 8:43pm 0 VERSION_BUMP cdbc7d68
Sep 11, 2024 11:21am 1 VERSION_BUMP ba45954d
Feb 13, 2024 9:01am 1 VERSION_BUMP ca5bb1cb
Feb 12, 2024 9:53pm 1 VERSION_BUMP a5ec97bd
Jan 5, 2024 3:58pm 0 VERSION_BUMP b9d8ee00
Sep 22, 2023 8:29am 1 VERSION_BUMP 79034e38
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