Introduction

The Robot Feature Description Format is a way for:

• Robot developers to define the various features present in their robot and describe ways to use them.
• Robot app developers to make their apps work on various robots and figure out if a particular robot has the necessary features to support the app.

RFDF uses KDL.

How To Use

Currently only ROS 2 is supported.

For Robot Developers

Example ROS 2 package: rfdf_example_ros2

• Create a rfdf.kdl file and pass its path to the rfdf_publisher node through its description parameter.
• The description will be automatically published on the /robot_features topic.

For Robot App Developers

Subscribe to the /robot_features topic and use one of our parsers in your apps’s code to read the document.

Per-Section Documentation

You can find documentation for various sections of the format on these wiki pages:

• movement {}