Hi ROS Community,
We’re excited to announce LinkForge v1.4.0, a major architectural update that transforms LinkForge into a programmable Intermediate Representation (IR) for robot descriptions.
If you’ve ever debugged a crash in Gazebo caused by a bad inertia tensor, or spent hours manually resolving namespace collisions in URDFs and MoveIt 2 SRDFs when attaching a manipulator to a mobile base, this is built for you.
Key Features for ROS Developers:
- Lossless URDF/XACRO Parsing: Preserves unknown metadata/tags, allowing seamless round-trips.
- Automated SRDF & MoveIt 2: Programmatically compose subsystems and LinkForge will automatically merge planning groups and self-collision matrices into a unified SRDF.
- ROS 2 Control & Gazebo: Auto-generates
ros2_controlhardware interface tags based on high-level Python definitions. - Physical Linter: Calculates rigorous inertia tensors from geometry and catches non-physical masses before you launch your simulation.
We’d love the community’s feedback on how well it integrates with your existing ROS 1 / ROS 2 workflows!
GitHub: LinkForge
Pypi: pip install linkforge-core
