C++ URDF Joint Parser

A C++ program that uses TinyXML2 to parse a URDF file and extract joint data.

For TinyXML Documentation, visit their official GitHub.

Features

• Prompts the user for the path to a URDF file.
• Counts the total number of joints and links.
• Extracts raw string attributes (xyz axis, parent/child links, origin offsets, and limits) and converts them into numerical double variables.

File Directory

cpp_urdf_parser/
│
├── external/                 
│   ├── tinyxml2.cpp
│   └── tinyxml2.h
│
├── src/
│   ├── main.cpp
│   └── puma.urdf   <- Included for Sample
│
├─ .gitignore
├─ CMakeLists.txt
├─ LICENSE
└─ README.md

How to Build and Run

Open PowerShell in the project root folder and run:

cmake --build build --config Debug; .\build\Debug\urdf_parser.exe

When prompted, enter the path to your URDF file.

URDF Sources:

• webots-urdf-initializers
• urdf_files_dataset by Daneilla1
• robot-descriptions by robot-descriptions