sdformat

SDFormat is an XML file format that describes environments, objects, and robots in a manner suitable for robotic applications. SDFormat is capable of representing and describing different physic engines, lighting properties, terrain, static or dynamic objects, and articulated robots with various sensors, and acutators. The format of SDFormat is also described by XML, which facilitates updates and allows conversion from previous versions.

Documentation

See the SDFormat Website for a more comprehensive description of the specification, proposals for modifications, developer information, etc. This website is published using some information from the sdf_tutorials repository.

Terminology

• SDFormat - The specification.
  • SDF - Synonym for SDFormat, though SDFormat should be preferred, as "SDF" is an acronym with other meanings.
• libsdformat - The C++ parsing code contained within this repository, which can be used to read SDFormat files and return a C++ interface.

Test coverage

Installation

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

The Source Installation instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.

Binary Installation

Ubuntu

On Ubuntu systems, apt-get can be used to install sdformat:

sudo apt install libsdformat<#>-dev libsdformat<#>

Be sure to replace <#> with a number value, such as 2 or 3, depending on which version you need, or leave it empty for version 1.

Windows

Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

conda create -n ign-ws
conda activate ign-ws

Install sdformat:

conda install libsdformat --channel conda-forge

You can view all the versions with

conda search libsdformat --channel conda-forge

and install a specific minor version with

conda install libsdformat=9.3.0 --channel conda-forge

Source Installation

Note: the master branch is under development for libsdformat11 and is currently unstable. A release branch (sdf10, sdf9, etc.) is recommended for most users.

UNIX

Build from Source

Standard installation can be performed in UNIX systems using the following steps:

mkdir build
cd build
cmake ..  # Consider specifying -DCMAKE_INSTALL_PREFIX=...
make install

sdformat supported cmake parameters at configuring time:

• USE_INTERNAL_URDF (bool) [default False]
  Use an internal copy of urdfdom 1.0.0 instead of look for one installed in the system
• USE_UPSTREAM_CFLAGS (bool) [default True]
  Use the sdformat team compilation flags instead of the common set defined by cmake.

Uninstallation

To uninstall the software installed with the previous steps:

cd build
make uninstall

Windows

Prerequisites

Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

conda create -n ign-ws
conda activate ign-ws

Install prerequisites:

conda install urdfdom --channel conda-forge

Install Ignition dependencies:

You can view lists of dependencies:

conda search libsdformat --channel conda-forge --info

Install dependencies, replacing <#> with the desired versions:

conda install libignition-math<#> libignition-tools<#> --channel conda-forge

Build from Source

This assumes you have created and activated a Conda environment while installing the Prerequisites.

1. Configure and build

mkdir build
cd build
cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
cmake --build . --config Release

2. Install

cmake --install . --config Release