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Improvements for the URDF xsd specification #200

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Merged
merged 6 commits into from
May 2, 2025
Merged

Improvements for the URDF xsd specification #200

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a5f66f7
add robot and link
harleylara Feb 15, 2024
b8cd248
add sensor and gazebo element
harleylara Feb 15, 2024
52bdf1c
fix: set the gazebo's processContents to lax
aminya Apr 16, 2024
6c87c66
fix: fix the specification for link's visual/collision
aminya Apr 16, 2024
3517ca3
fix: do not require a namespace for backwards compatibility
aminya Apr 16, 2024
5140442
fix: only allow one inertial tag
aminya May 30, 2024
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101 changes: 88 additions & 13 deletions xsd/urdf.xsd
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,19 @@
-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema"
targetNamespace="http://www.ros.org"
xmlns="http://www.ros.org"
elementFormDefault="qualified">
elementFormDefault="unqualified">

<!-- data type definitions -->
<xs:simpleType name="JointType">
<xs:restriction base="xs:string">
<xs:enumeration value="revolute"/>
<xs:enumeration value="continuous"/>
<xs:enumeration value="prismatic"/>
<xs:enumeration value="fixed"/>
<xs:enumeration value="floating"/>
<xs:enumeration value="planar"/>
</xs:restriction>
</xs:simpleType>

<!-- pose node type -->
<xs:complexType name="pose">
Expand Down Expand Up @@ -142,20 +152,16 @@
<xs:element name="verbose"
type="verbose" minOccurs="0" maxOccurs="1" />
</xs:sequence>
<!-- FIXME: used but not documented -->
<xs:attribute name="name" type="xs:string" />
</xs:complexType>

<!-- link node type -->
<xs:complexType name="link">
<xs:all>
<xs:element name="inertial"
type="inertial" minOccurs="0" maxOccurs="1" />
<xs:element name="visual"
type="visual" minOccurs="0" maxOccurs="unbounded" />
<xs:element name="collision"
type="collision" minOccurs="0" maxOccurs="unbounded" />
</xs:all>
<xs:choice minOccurs="0" maxOccurs="unbounded">
<xs:element name="inertial" type="inertial" minOccurs="0" maxOccurs="1" />
<xs:element name="visual" type="visual" />
<xs:element name="collision" type="collision" />
</xs:choice>
<xs:attribute name="name" type="xs:string" use="required" />

<!-- FIXME: undocumented but used by PR2 -->
Expand Down Expand Up @@ -270,6 +276,69 @@
<xs:attribute name="type" type="xs:string" use="required" />
</xs:complexType>

<!-- image node type -->
<xs:complexType name="image">
<xs:attribute name="width" type="xs:unsignedInt" use="required" />
<xs:attribute name="height" type="xs:unsignedInt" use="required" />
<xs:attribute name="format" type="xs:string" use="required" />
<xs:attribute name="hfov" type="xs:double" use="required" />
<xs:attribute name="near" type="xs:double" use="required" />
<xs:attribute name="far" type="xs:double" use="required" />
</xs:complexType>

<!-- camera node type -->
<xs:complexType name="camera">
<xs:sequence>
<xs:element name="image"
type="image" minOccurs="0" maxOccurs="1" />
</xs:sequence>
</xs:complexType>

<!-- horizontal ray node type -->
<xs:complexType name="LaserRay">
<xs:attribute name="samples" type="xs:unsignedInt" default="1" />
<xs:attribute name="resolution" type="xs:unsignedInt" default="1"/>
<xs:attribute name="min_angle" type="xs:double" default="0" />
<xs:attribute name="max_angle" type="xs:double" default="0" />
</xs:complexType>

<!-- ray node type -->
<xs:complexType name="ray">
<xs:sequence>
<xs:element name="horizontal"
type="LaserRay" minOccurs="0" maxOccurs="1" />
<xs:element name="vertical"
type="LaserRay" minOccurs="0" maxOccurs="1" />
</xs:sequence>
</xs:complexType>

<!-- sensor node type -->
<xs:complexType name="sensor">
<xs:sequence>
<xs:element name="origin"
type="pose" minOccurs="0" maxOccurs="1" />
<xs:element name="parent"
type="parent" minOccurs="1" maxOccurs="1" />
<xs:choice>
<xs:element name="camera" type="camera" minOccurs="0" maxOccurs="1"/>
<xs:element name="ray" type="ray" minOccurs="0" maxOccurs="1" />
</xs:choice>
</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="update_rate" type="xs:string" />
</xs:complexType>

<xs:complexType name="gazebo">
<!-- Allow any content within gazebo -->
<!-- for Gazebo Classic:
https://classic.gazebosim.org/tutorials?tut=ros_urdf&cat=connect_ros -->
<!-- for newest Gazebo:
http://sdformat.org/tutorials?tut=sdformat_urdf_extensions&cat=specification&-->
<xs:sequence>
<xs:any minOccurs="0" maxOccurs="unbounded" processContents="lax" />
</xs:sequence>
</xs:complexType>

<!-- joint node type -->
<xs:complexType name="joint">
<xs:all>
Expand All @@ -293,7 +362,7 @@
type="mimic" minOccurs="0" maxOccurs="1" />
</xs:all>
<xs:attribute name="name" type="xs:string" use="required" />
<xs:attribute name="type" type="xs:string" use="required" />
<xs:attribute name="type" type="JointType" use="required" />
</xs:complexType>

<!-- root node is always robot -->
Expand All @@ -314,6 +383,12 @@
type="transmission" minOccurs="0" maxOccurs="unbounded" />

<!-- FIXME: gazebo extension not supported -->
<xs:element name="gazebo"
type="gazebo" minOccurs="0" maxOccurs="unbounded" />

<xs:element name="sensor"
type="sensor" minOccurs="0" maxOccurs="unbounded" />

</xs:sequence>
<xs:attribute name="name" type="xs:string" use="required" />

Expand Down