This is a small URDF (Universal Robot Descriptor File) Parser library. It is intended to be used to load the most important information needed to display a robot. It was created to serve as a simple static library to be used in rbdl-toolkit and the rbdl library. One of the main desing goals was to keep it simple and provide a consistent error handling that may be used to find errors in the URDF files that are loaded.

Insipiration was drawn from the urdfdom library and just as urdfdom it uses tinyxml as the xml implementation.

Feel free to use it in your own projects.