sdformat : Simulation Description Format (SDF) parser ( http://sdformat.org/ )
tinyxml2 : A simple, small, efficient, C++ XML parser ( http://www.grinninglizard.com/tinyxml2/ https://github.com/leethomason/tinyxml2/ )
Add an ebuild in portage :
The ebuild is now in the portage tree.
You can also use layman : emerge layman then layman -a ros-overlay
For Paludis use this rsync : rsync://gentoo.zugaina.org/ros-overlay-portage
If you have a problem : ycarus(-at-)zugaina.org