Need help cloning? Visit
is a free Git and Mercurial client for Windows.
is a free Git and Mercurial client for Mac.
This solves #16, since this is no longer ROS-dependent. This may allow you to test the reader easily (urdfdom does not have much dependencies, unlike the ROS version).
It should also fix an error in the loader (root link was apparently skipped), but more tests should be added.
I'm really not familiar with Mercurial, so feel free to correct possible branching errors ;-)