File _service:obs_scm:README.en.md of Package urdfdom

# urdfdom

#### Description
The urdfdom node

The URDF (U-Robot Description Format) library provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.

#### Software Architecture
Software architecture description

https://github.com/ros2/urdfdom.git

input:
```
urdfdom
├── cmake
│   ├── FindTinyXML.cmake
│   ├── pkgconfig
│   │   └── urdfdom.pc.in
│   └── urdfdom-config.cmake.in
├── CMakeLists.txt
├── LICENSE
├── package.xml
├── README.md
├── urdf_parser
│   ├── CMakeLists.txt
│   ├── include
│   │   └── urdf_parser
│   ├── src
│   │   ├── check_urdf.cpp
│   │   ├── joint.cpp
│   │   ├── link.cpp
│   │   ├── model.cpp
│   │   ├── pose.cpp
│   │   ├── twist.cpp
│   │   ├── urdf_model_state.cpp
│   │   ├── urdf_sensor.cpp
│   │   ├── urdf_to_graphiz.cpp
│   │   └── world.cpp
│   └── test
│       ├── CMakeLists.txt
│       ├── gtest
│       ├── memtest.cpp
│       └── urdf_unit_test.cpp
└── xsd
    ├── autogenerated.urdf
    └── urdf.xsd

```

#### Installation

1.  Download RPM

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/urdfdom/ros2-foxy-ros2-urdfdom-2.3.3-2.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/urdfdom/ros2-foxy-ros2-urdfdom-2.3.3-2.oe2203.x86_64.rpm
```

2.  Install RPM

aarch64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-urdfdom-2.3.3-2.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-urdfdom-2.3.3-2.oe2203.x86_64.rpm
```

#### Instructions

Dependence installation:

```
sh /opt/ros/foxy/install_dependence.sh
```

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

```
urdfdom
├── bin
│   ├── check_urdf
│   ├── urdf_mem_test
│   └── urdf_to_graphiz
├── include
│   └── urdf_parser
│       ├── exportdecl.h
│       └── urdf_parser.h
├── lib
│   ├── liburdfdom_model.so -> liburdfdom_model.so.1.0
│   ├── liburdfdom_model.so.1.0
│   ├── liburdfdom_model_state.so -> liburdfdom_model_state.so.1.0
│   ├── liburdfdom_model_state.so.1.0
│   ├── liburdfdom_sensor.so -> liburdfdom_sensor.so.1.0
│   ├── liburdfdom_sensor.so.1.0
│   ├── liburdfdom_world.so -> liburdfdom_world.so.1.0
│   ├── liburdfdom_world.so.1.0
│   ├── pkgconfig
│   │   └── urdfdom.pc
│   └── urdfdom
│       └── cmake
└── share
    ├── colcon-core
    │   └── packages
    └── urdfdom
        ├── hook
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
```

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

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