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

# urdf

#### Description
This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases.
This package contains a number of XML specifications for robot models, sensors, scenes, etc. Each XML specification has a corresponding parser in one or more languages.

#### Software Architecture
Software architecture description
![输入图片说明](https://images.gitee.com/uploads/images/2020/1115/091728_1d2f2186_1226697.png "urdf_diagram.png")# urdf

input:
```
urdf
├── urdf
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── include
│   ├── mainpage.dox
│   ├── package.xml
│   ├── src
│   ├── test
│   └── urdfdom_compatibility.h.in
└── urdf_parser_plugin
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── include
    └── package.xml
```

#### Installation

1.  Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-urdf-1.13.2-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-urdf-1.13.2-1.oe2203.x86_64.rpm

2.  Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-urdf-1.13.2-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-urdf-1.13.2-1.oe2203.x86_64.rpm --nodeps --force

#### Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

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

```
urdf
├── cmake.lock
├── env.sh
├── include
│   └── urdf
├── lib
│   ├── liburdf.so
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── urdf

```

#### Contribution

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

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