Changelog for package urdfdom

6.0.1 (2026-07-30)

Support for URDF Specification 1.2
- Extend parsing of acceleration, deceleration and jerk limits from limit tag (#212)
- Update default limits for the joint limits and safety limits (#249)
- Add invalid data checks to the Geometry data (#242)
- Require urdfdom_headers 3.0.0 (#257)
Use URDF_MAJOR_VERSION for SOVERSION (#248)
Contributors: Jose Luis Rivero, Sai Kishor Kothakota, Steve Peters

Revert "Extend parsing of acceleration, deceleration and jerk limits from limit tag (#212)" This was a breaking change that will be released in 6.0.0
Contributors: Steve Peters

Prevent CI from failing fast to allow all builds to complete (#254)
Remove urdf_world/types.h deprecation (#251)
Extend parsing of acceleration, deceleration and jerk limits from limit tag (#212)
ROS 2 CI: build urdfdom_headers from source (#246)
Disable system workflow because urdfdom_headers isn't available on Ubuntu 24.04 (#240)
Fix ROS 2 CI workflow by updating Ubuntu version and checkout action (#239)
Contributors: Alejandro Hernández Cordero, Sai Kishor Kothakota, Steve Peters

Support for URDF Specification 1.1
- Add support for capsule geometry type (#238) * Add documentation about versioning * Require version 2.1.0 of urdfdom_headers Co-authored-by: Steve Peters <scpeters@openrobotics.org>
- Support quaternions in URDF 1.1 (#235) Co-authored-by: Guillaume Doisy <doisyg@users.noreply.github.com>
Fix multiple format-string vulnerabilities in URDF parser logging (#243) User-controlled URDF content was passed directly to CONSOLE_BRIDGE_logError() at multiple call sites, allowing printf-style format string interpretation. All affected logging paths now use explicit "%s" format specifiers to ensure input is treated as data and to prevent information disclosure or undefined behavior.
More logging format string fixes (#244) * Add explicit "%s" format strings when logging * Use %s format string instead of string addition
Read cmake version from package.xml (#236) * Use regex to match version string. Based on suggestion from Chris Lalancette. * Require cmake minimum version 3.10 Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Contributors: Florencia, Sai Kishor Kothakota, Steve Peters