  Context. The populations of small bodies of the Solar System (asteroids,
comets, Kuiper Belt objects) are used to constrain the origin and evolution of
the Solar System. Both their orbital distribution and composition distribution
are required to track the dynamical pathway from their regions of formation to
their current locations.
  Aims. We aim at increasing the sample of Solar System objects (SSOs) that
have multi-filter photometry and compositional taxonomy.
  Methods. We search for moving objects in the SkyMapper Southern Survey. We
use the predicted SSO positions to extract photometry and astrometry from the
SkyMapper frames. We then apply a suite of filters to clean the catalog for
false-positive detections. We finally use the near-simultaneous photometry to
assign a taxonomic class to objects.
  Results. We release a catalog of 880,528 individual observations, consisting
of 205,515 known and unique SSOs. The catalog completeness is estimated to be
about 97% down to V=18 mag and the purity to be above 95% for known SSOs. The
near-simultaneous photometry provides either three, two, or a single color that
we use to classify 117,356 SSOs with a scheme consistent with the widely used
Bus-DeMeo taxonomy.
  Conclusions. The present catalog contributes significantly to the sample of
asteroids with known surface properties (about 40% of main-belt asteroids down
to an absolute magnitude of 16). We will release more observations of SSOs with
future SkyMapper data releases.
