# Install urdfdom with Homebrew, apt, Nix Unified Robot Description Format (URDF) parser. Version 6.0.0 via Homebrew; verified 2026-04-21. ## Install ```sh sudo av install brew:urdfdom ``` Additional install commands: ### macOS - Homebrew (100%): ```sh brew install urdfdom ``` Evidence: local Homebrew formula metadata ### Linux - Debian apt (92%): ```sh sudo apt install liburdfdom-dev ``` Evidence: Debian stable package indexes: liburdfdom-dev from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz - Nix (92%): ```sh nix profile install nixpkgs#urdfdom ``` Evidence: nixpkgs package indexes: pkgs/by-name/ur/urdfdom/package.nix from https://api.github.com/repos/NixOS/nixpkgs/git/trees/master?recursive=1 ## Package facts - **Package key:** brew:urdfdom - **Package manager:** Homebrew - **Package manager page:** - **Version:** 6.0.0 - **Source summary:** Unified Robot Description Format (URDF) parser - **Homepage:** - **Repository:** - **Upstream docs:** - **License:** BSD-3-Clause - **Source archive:** - **Last updated:** 2026-04-21T09:30:28Z - **Generated:** 2026-07-08T07:18:31+00:00 ## Executables - check_urdf (cli) - urdf_mem_test (cli) - urdf_to_graphviz (cli) - check_urdf (alias) - urdf_mem_test (alias) - urdf_to_graphviz (alias) ## Dependencies - console_bridge - tinyxml2 - urdfdom_headers ## Build dependencies - cmake ## Install behavior - Post-install hook: not defined - Bottle: available on arm64_linux, arm64_sequoia, arm64_sonoma, arm64_tahoe, sonoma, x86_64_linux ## Freshness - Page generated: 2026-07-08 - Package-manager version: 6.0.0 - Package-manager updated: 2026-04-21 - Local data: ok - Upstream repository: https://github.com/ros/urdfdom - Upstream latest detected: 6.0.0 (current) ## Project history and usage urdfdom is the ROS ecosystem's standalone C++ parser and data-model library for the Unified Robot Description Format. Its README describes it as providing core data structures and XML parsing for populating those structures from URDF robot files. ### Project history The public GitHub repository was created in 2013, and the README reflects its role as a library that can be built independently but is also released through the ROS packaging process. The README's ROS section explains that ROS release packaging supplies a `package.xml` during release, with examples from the ROS Hydro era. ### Adoption history urdfdom's adoption is tied to ROS and robot-description workflows: robot models, links, joints, materials, visual and collision geometry, transmissions, and Gazebo extensions. The official ROS docs publish generated package documentation and changelogs, while the batch input lists Homebrew, Debian, Ubuntu, and Nix packages, including Debian/Ubuntu's `liburdfdom-dev` naming. ### How it is used Package users encounter urdfdom as both a development library and a set of small validation/conversion tools such as `check_urdf` and `urdf_to_graphviz`. Maintainers often care about ABI compatibility because the README warns that installing from source over ROS Debian packages can break future `/opt/ros` updates. ### Why package nerds care urdfdom is important in package-manager niches because it is a small library with a large robotics dependency footprint. It bridges ROS release tooling, Debian-style development packages, Homebrew robotics stacks, CMake consumers, and the evolving URDF file format. ### Timeline - 2013: Public GitHub repository metadata records the urdfdom repository creation. - ROS Hydro era: README documented pulling ROS release `package.xml` metadata for source builds. - 2025: 4.0.3 removed deprecated code and ROS 1 workflows. - 2026: 5.1.0 added URDF specification 1.1 support. - 2026: 6.0.0 added URDF specification 1.2 support. ### Related projects - The official docs link urdfdom with urdfdom_headers. The README points to the ROS URDF specification and to ROS release repositories used for distribution metadata. ### Sources - - - - input source_facts.package-manager ## Security Notes narrow executable package without higher-risk signals. - **Geiger risk:** green / low - narrow executable package without higher-risk signals ## Source Database Details - **Source Database:** Homebrew formula API - **Tap:** homebrew/core - **Full Name:** urdfdom - **Version Scheme:** 0 - **Revision:** 0 - **Bottle Stable Root URL:** - **Deprecated:** no - **Disabled:** no - **Keg Only:** no - **URL Keys:** stable ## Other Package-Manager Records - Debian apt - liburdfdom-dev - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-dev from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - development files | https://github.com/ros/urdfdom - Debian apt - liburdfdom-model-state4.0 - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-model-state4.0 from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - model state library | https://github.com/ros/urdfdom - Debian apt - liburdfdom-model4.0 - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-model4.0 from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - model library | https://github.com/ros/urdfdom - Debian apt - liburdfdom-sensor4.0 - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-sensor4.0 from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - sensor library | https://github.com/ros/urdfdom - Debian apt - liburdfdom-tools - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-tools from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - tools | https://github.com/ros/urdfdom - Debian apt - liburdfdom-world4.0 - 4.0.0-3+b1: normalized package name match | Debian stable package indexes: liburdfdom-world4.0 from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | URDF DOM - world library | https://github.com/ros/urdfdom - Nix - urdfdom: normalized package name match | nixpkgs package indexes: pkgs/by-name/ur/urdfdom/package.nix from https://api.github.com/repos/NixOS/nixpkgs/git/trees/master?recursive=1 - Ubuntu apt - liburdfdom-dev - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-dev from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - development files | https://github.com/ros/urdfdom - Ubuntu apt - liburdfdom-model-state4.0 - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-model-state4.0 from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - model state library | https://github.com/ros/urdfdom - Ubuntu apt - liburdfdom-model4.0 - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-model4.0 from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - model library | https://github.com/ros/urdfdom - Ubuntu apt - liburdfdom-sensor4.0 - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-sensor4.0 from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - sensor library | https://github.com/ros/urdfdom - Ubuntu apt - liburdfdom-tools - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-tools from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - tools | https://github.com/ros/urdfdom - Ubuntu apt - liburdfdom-world4.0 - 4.0.0-0ubuntu1: normalized package name match | Ubuntu 24.04 LTS package indexes: liburdfdom-world4.0 from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | URDF DOM - world library | https://github.com/ros/urdfdom ## Related links - [Terminal utility packages](https://www.automicvault.com/pkg/terminal-utilities/) - Matched terminal and command-line workflow metadata. - [Text processing packages](https://www.automicvault.com/pkg/text-processing-tools/) - Matched text, document, or structured-data processing metadata. - [Developer build packages](https://www.automicvault.com/pkg/developer-build-tools/) - Matched build, compiler, generator, or developer workflow metadata. - [Networking and protocol packages](https://www.automicvault.com/pkg/networking-protocol-tools/) - Matched network, protocol, or remote-service metadata. - [cmake](https://www.automicvault.com/pkg/brew/cmake/) - Build dependency declared by Homebrew. - [btparse](https://www.automicvault.com/pkg/brew/btparse/) - Shares av.db curated category or tags: cli, developer-tools, library, parser, parsing. - [cpp-peglib](https://www.automicvault.com/pkg/brew/cpp-peglib/) - Shares av.db curated category or tags: cli, developer-tools, library, parser, parsing. - [htmlcleaner](https://www.automicvault.com/pkg/brew/htmlcleaner/) - Shares av.db curated category or tags: cli, developer-tools, parser, parsing, xml. - [htmlcxx](https://www.automicvault.com/pkg/brew/htmlcxx/) - Shares av.db curated category or tags: cli, developer-tools, library, parser, parsing. - [sqlparse](https://www.automicvault.com/pkg/brew/sqlparse/) - Shares av.db curated category or tags: cli, developer-tools, library, parser, parsing. - [libfyaml](https://www.automicvault.com/pkg/brew/libfyaml/) - Shares av.db curated category or tags: cli, developer-tools, parser, parsing. - [mavsdk](https://www.automicvault.com/pkg/brew/mavsdk/) - Shares av.db curated category or tags: cli, developer-tools, robotics. - [csvprintf](https://www.automicvault.com/pkg/brew/csvprintf/) - Shares av.db curated category or tags: cli, developer-tools, parser, xml. ## Combined YAML source View the package source record on GitHub. [combined/urdfdom.yml](https://github.com/automic-vault/db/blob/main/combined/urdfdom.yml) ## Sources - Nucleus package database - Geiger risk classifier - package-page enrichment - curated package history - package version freshness - av.db category and tag curation - package relationship graph - external package-manager database matches - cross-ecosystem install command graph