Newton-Euler inverse dynamics.

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I need to implement newton-euler inverse dynamics algorithm which in case requires forward transformations between COMs of my robot links. Unfortunately I can not find a way to do it with TF. I would do it by myself but I also do not see any way to build kinematic chain but to parse urdf on parameter server manually. Looks like the same work the TF do. Also I need to get masses and inertial properties of robot's links and again I can not find a way to do it.

So the questions are:

1. How can I retrieve inertial properties of my links without writing a parser for URDF?
2. Is it possible to do forward transformations between COMs with TF?

P.S. I want to do it by hands for the first time but if you know some good libraries which can do everything for me, I would like to know about them. Certainly I can google them but having some kind of rating is useful.

Thanks!