URDF Editor

This is a work-in-progress WYSIWYG editor that allows you to create, modify and visualize robots defined with URDF. The main goal of this project is to create an editor that does not depend on the ROS software stack and is platform agnostic, you only need a C++17 compiler.

Install

Make sure that the following X dependencies are installed:

sudo apt install pkg-config libgtk-3-dev libxi-dev libxcursor-dev libxinerama-dev libxrandr-dev

All the dependencies are automatically downloaded and compiled with CMake. To install, simply run:

git clone https://github.com/noctrog/urdf-editor && cd urdf-editor
cmake -B build -S . -DCMAKE_BUILD_TYPE=Release  # or RelWithDebInfo for debugging
cmake --build build -j$(nproc)
./build/urdf-editor

Roadmap

• Load and save URDF files
• Do/Undo system
• GUI (with ImGui)
• Drag and drop link (GUI URDF Tree)
• 3D Gizmo for visual editing
• Visualize joint movements
• Material editor
• Mesh geometry support (in the works through Assimp)

Known bugs

• Changing name of collision looses focus on the collision tab.
• When changing the geometry type, the forward kinematics have to be refreshed.
• Crash when changing geometry type to Mesh.

Contributing

Contributions are always welcome! Feel free to open an issue or create a merge request :)