YARP - Yet Another Robot Platform
A (partial) list of bug fixed and issues resolved in this release can be found here.
audioRecorderDeviceBase device.SoundFileWav.cpp.yarprun --cmd <cmd> --stdio.iCubGui inertial ports from the example app as the GUI is unable to handle the MAS client.frameGrabber_nwc_yarp.controlBoard_nws_yarp.yarp::os::SystemClock::nowSystem() now maps to std::chrono::system_clock instead of std::chrono::high_resolution_clock
Added new experimental docker image for Ubuntu22.04 http://github.com/robotology/yarp/docker
Added new gui yarpaudiocontrolgui to start/stop an audioRecorder_nwc_yarp or an audioPlayer_nwc_yarp device.
Added new gui yarpllmgui to control IChatbot devices.
yarp::sig::sound has refactored to avoid the internal use (private implementation) of yarp::sig::Image data type.yarp split. The command splits an heterogeneous nested bottle received from a port into multiple ports.IJointCoupling, an interface for handling coupled joints.ISpeechSynthesizer, ISpeechTranscription.IChatBot to interact with chatbots.ITorqueControl now supports four a new friction parameters: velocityThresh.
These parameters are used to enable the new torque control law and fine tune the the friction compensation at FW level.FrameTransform_container_timeout) to change the refresh interval for old timed frame transforms.frameTransformClient and frameTransformServer configuration files. The extern-name for this parameter is:
ftc_storage_timeout for frameTransformClient files; fts_storage_timeout for frameTransformServer fileschatBot_nwc_yarp for the IChatBot interface and the corresponding testchatBot_nws_yarp
fakeChatBotDevice
speechSynthesizer_nwc_yarp for the ISpeechSynthesizer interface and the corresponding testspeechSynthesizer_nws_yarp
fakeSpeechSynthesizer
speechTranscription_nwc_yarp for the ISpeechTranscription interface and the corresponding testspeechTranscription_nws_yarp
fakeSpeechTranscription
This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.8.0..v3.9.0):
127 Marco Randazzo <[email protected]>
37 Ettore Landini <[email protected]>
14 Nicolò Genesio <[email protected]>
14 fbrand-new <[email protected]>
7 Silvio Traversaro <[email protected]>
6 Arren Glover <[email protected]>
4 robotology-bot (Tag Repository Action) <[email protected]>
3 Bartek Łukawski <[email protected]>
2 Davide <[email protected]>
2 Ugo Pattacini <[email protected]>
1 Davide Gorbani <[email protected]>
1 Marco Randazzo <[email protected]>
1 Simone <[email protected]>
1 Simone Girardi <[email protected]>
1 Stefano Dafarra <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
yarpmotorguiFixed bug that resulted in a segmentation fault if one of the device to which
multipleanalogsensorsserver was attached did not resized the measure vector.
Fixed segfault in serialPort_nws_yarp if devices is used but not attached yet. Fixed communication with serialPort_nwc_yarp.
Removed use of highgui.h include file.
This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.8.0..v3.8.1):
8 Marco Randazzo <[email protected]>
5 Silvio Traversaro <[email protected]>
2 Nicolò Genesio <[email protected]>
2 robotology-bot (Tag Repository Action) <[email protected]>
1 Bartek Łukawski <[email protected]>
1 Ugo Pattacini <[email protected]>
1 fbrand-new <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
lib_yarp_osDevicesgroup has been removed because of faulty/incomplete implementation and unused. Please use yarprobotinterface instead.DriverLinkCreator, used only by device group, has been removed.pipe has been removed because of faulty/incomplete implementation and unused.dualGrabber, previously deprecated, has been removed.remote_grabber, previously deprecated, has been removed.lib_yarp_companionyarp split. The command splits an heterogeneous nested bottle received from a port into multiple ports.lib_yarp_osyarp::os::LogStream now can chain instances of yarp::sig::VectorOf<T>.lib_yarp_devbool getAxes(int* ax) to yarp::dev::IAxisInfo interface.bindingsgetAxes() method to IAxisInfo interface + python example.libYARP_dev_testsyarp_dev_tests: is now exported.
It contains common sources to test Yarp device through lib_yarpdev (also outside yarp repo)libYARP_robotinterface${portprefix} variable in parameters (#2819).rpLidar, rpLidar2, rpLidar3, and the corresponding sdk in extern/rplidar.
The devices can be now found in https://github.com/robotology/yarp-device-rplidar
fakeLaserWithMotorfakeLaserWithMotor
rangefinder2D_nwc_yarprangefinder2D_nwc_yarp (including IRangefinder2D tests)frameTransformServer + frameTransformClientframeTransformClient and frameTransformServer will search for "test" configurations not relying on an absolute path passed as a parameter but will take advantage of yarp::os::ResourceFinder using a file name and a context passed to them in this way:> yarpdev --device frameTransformClient --testxml_from testconfig.xml --testxml_context test_folder
yarpidl_thriftCatchCatch V2.13.8 to Catch V3.2.1.sqlite3sqlite to sqlite3. Fixed issue preventing extern/sqlite3 (i.e. YARP_priv_SQLite3) to be correctly found as a dependency by other projects.yarpviewyarpview by passing --title + custom title to the executabletitle argument is not passed yarpview window title will be assigned as it has been until nowyarpmotorguiYCM 0.13 to YCM 0.15.1
YARP_COMPILE_ALL_FAKE_DEVICES to build all fake devices in one single shotimage_rotationimage_rotation
IGazeControl.storeContext(): now the method is correctly exposed to Python, returning the ID instead of trying to modify a pointer to it.ffmpeg_grabberAudioRecorderWrapperyarp::dev::WrapperSingle instead of yarp::dev::IMultipleWrapper
AudioPlayerWrapperyarp::dev::WrapperSingle instead of yarp::dev::IMultipleWrapper
frameTransformClientcontrolBoard_nws_yarpIRemoteVariables messages via RPC.RPCMessagesParser: several calls to various motor control interfaces have been protected so that
if an interface is not available in the hardware device (i.e. the view() fails),
the controlboardwrapper/yarprobotinterface does not segfaults.multipleanalogsensorsremapperyarprobotinterfaceyarprobotinterface: is now able to parse enabled_by and disabled_by xml attributes. See yarprobotinterface Doxygen documentation.write throwing segmentation fault when argc was less than 2.yarp --version
yarpdev --list
yarp plugin --all
yarp plugin --all now returns 0 (OK) instead of 1 (ERROR).This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.7.0..v3.8.0):
185 Marco Randazzo <[email protected]>
21 Ettore Landini <[email protected]>
13 Silvio Traversaro <[email protected]>
6 robotology-bot (Tag Repository Action) <[email protected]>
5 tumme <[email protected]>
4 Ugo Pattacini <[email protected]>
3 Bartek Łukawski <[email protected]>
3 Nicola Piga <[email protected]>
3 hypothe <[email protected]>
1 Marco Gabriele Fedozzi <[email protected]>
1 Mattia Fussi <[email protected]>
1 fbrand-new <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
lib_yarp_oscontrolBoard_nws_yarpThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.7.1..v3.7.2):
5 Marco Randazzo <[email protected]>
3 Nicola Piga <[email protected]>
2 robotology-bot (Tag Repository Action) <[email protected]>
1 Bartek Łukawski <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
Fix compilation against graphviz 3 on Windows. To work correctly, the fix requires that YCM >= 0.14.2 is used.
Migrate to use CMake's official FindSQLite3.cmake module.
GenericSensorRosPublisher (and derived devices): added checks if the interfaces are available in the Attach phaselib_yarp_devIOdometry2D::getOdometry() methodyarpmotorguiyarpmotorgui does not show the error dialog when setting only a subset of the
available robot parts to a custom positionThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.7.0..v3.7.1):
8 Marco Randazzo <[email protected]>
5 Silvio Traversaro <[email protected]>
2 robotology-bot (Tag Repository Action) <[email protected]>
1 Ettore Landini <[email protected]>
1 Ugo Pattacini <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
lib_yarp_osDeviceslib_yarp_osidl/WireReaderreadBlock method.idl/WireWriterwriteBlock method.skip_tag flag to all write methods.lib_yarp_devlib_yarp_companionadded period option to companion command yarp write.
added once option to companion command yarp read.
Companion commands yarp read and yarp write now perform a check to verify that th
target ports do not already exist.
Added new companion command yarp topic-test.
libYARP_robotinterface${portprefix} variable in parameters (#2819).audioToFileDevice--add_marker
--save_mode break_file
depthimage_to_vector
sound_marker
yarpidl_thriftyarpmotorguiCatch v2.13.8 (#2795). This fixes building the unit tests on some configurations.CMake 3.23.1 on macOS.yarpmotorguiThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.6.0..v3.7.0):
41 Marco Randazzo <[email protected]>
20 Stefano Dafarra <[email protected]>
14 Daniele E. Domenichelli <[email protected]>
13 Silvio Traversaro <[email protected]>
10 Simone Girardi <[email protected]>
2 Ugo Pattacini <[email protected]>
1 Ettore Landini <[email protected]>
1 Matteo Brunettini <[email protected]>
1 Simone <[email protected]>
1 robotology-bot (Tag Repository Action) <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
localization2DClient (replaced by localization2D_nwc_yarp)map2DClient (replaced by map2D_nwc_yarp)navigation2DServer (replaced by navigation2D_nws_yarp)confYARP_VERSION_COMPARE macro has been added to version.h to simplify how
YARP versions are compared e.g. in #if guards. For instance, the condition
#if YARP_VERSION_COMPARE(>=, 3, 6, 0) will yield true if the current YARP
version is equal to or greater than 3.6.0.osCommandBottle class.
This is a class that contains both the command and the reply.
The only advantage of this class compared to using two bottles is that
portmonitors are able to know, in the updateReply method, what was the
request for the reply received.Logstd::vector, it is now also possible
to call yInfo() << collection where the collection is a std::array,
std::list, std::set, std::map, C-array, std::tuple...yIDebug).
See [documentation](
ef yarp_logging).YARP_LOG_PROCESS_LABEL environment variable is now checked when output
is forwarded. If found, the label is appended to the executable name in the
log port name e.g. (/log/hostname/yarpdev[mylabel]/123123)ConnectionWritergetBuffer with const/non-const versionsConnectionReaderflushWriter is now an interface method.idl/WireReadergetReader() method.idl/WireWritersigyarp::sig::soundfilters::resample() contained in the new
header file yarp/sig/SoundFilters.h.devyarp::dev::IJointFault.yarp::dev::Nav2D::IOdometry2D.DeviceDriverid() and setId() methodsPolyDriverid option to the open method (or
passing --id to yarpdev).Nav2D::INavigation2DVelocityActionsapplyVelocityCommand() method was moved from
yarp::dev::Nav2D::INavigation2DTargetActions to a new interface
yarp::dev::Nav2D::INavigation2DVelocityActions.yarp::dev::Nav2D::MapGrid2D using Zlib: the methods
yarp::os::Portable::write() and yarp::os::Portable::read() handle the
compression before sending data to the network.
The method MapGrid2D::enable_map_compression_over_network() enables/disables
the data compression over the network (default true).
If the Zlib library is not available, compression will be disabled.Map2DArea::getCentroid().description field which can now be filled by the user for generic
purposes.description field which can now be filled by the user for generic
purposes.description field which can now be filled by the user for generic
purposes.getAllLocations(std::vector<yarp::dev::Nav2D::Map2DLocation>& locations)
getAllAreas(std::vector<yarp::dev::Nav2D::Map2DArea>& areas)
getAllPaths(std::vector<yarp::dev::Nav2D::Map2DPath>& paths)
INavigation2D interface now derives from IMap2D interfaceMost of the clients/nwcs now implement the option carrier to set the carrier
for the connection with the server.
Added the following new EXPERIMENTAL devices:
rpLidar3 that supports the 3rd revision of the rpLidar hardware.fakeOdometry that generates a fake odometry and makes it available from
IOdometry2D interface.fakePositionSensor that simulate a position sensor and makes it available
through the IPositionSensors and IOrientationSensors interfaces.Added more EXPERIMENTAL devices in order to implement the Network Wrapper Server/Client Architecture described in ef nws_and_nwc_architecture. These devices do not implement internal logic, therefore they might need to be used together with a different device. This architecture and all these devices are to be considered experimental, and may be modified/renamed/removed at any time without any notice.
localization2D_nwc_yarp: YARP NWS which connects to
localization2D_nws_yarp: and can be used to replace localization2DClient
map2D_nwc_yarp YARP NWS which connects to map2D_nws_yarp and can be used
to replace map2DClient
mobileBaseVelocityControl_nws_yarp: YARP NWS to control the velocity of a
mobile base.mobileBaseVelocityControl_nwc_yarp: YARP NWC to control the velocity of a
mobile base.mobileBaseVelocityControl_nws_ros: ROS NWS to control the velocity of a
mobile base.navigation2D_nws_yarp: YARP NWS that can be used to replace
navigation2DServer.navigation2D_nwc_yarp: YARP NWC that connects to map2D_nws_yarp,
localization2D_nws_yarp and navigation2D_nws_yarp.odometry2D_nws_yarp: YARP NWS which can be attached to a IOdometry2D
interface and publish the data on a YARP port.odometry2D_nws_ros: ROS NWS which can be attached to a IOdometry2D
interface and publish the data on a ROS topic.fakeLaserlocalization2D_nwc_yarp instead of
localization2DClient
frameTransformServerframeTransformClientFrameTransform_verbose_debug
frameTransformStorageFrameTransform_verbose_debug is set to 1.FrameTransform_verbose_debug
(default = 0)frameTransformContainerFrameTransform_verbose_debug is set to 1.FrameTransform_verbose_debug
(default = 0)map2DStoragev3 file format, which includes the description for Map2DLocation,
Map2DArea and Map2DPath is now supported.map2DServerenable_maps_compression <0/1>
remote_controlboardIJointFault device is now implemented by the device.controlBoard_nws_yarpIJointFault device is now implemented by the device.controlboardremapperIJointFault device is now implemented by the device.fakeMotionControlportaudioportaudioPlayerportaudioRecorderbottle_compression_zlib portmonitor to compress bottles (or other
data types which can be converted to bottle).soundfilter_resample portmonitor to resample audio streams.sensorMeasurements_to_vector portmonitor which converts a 6D Pose from
a SensorStreamingData data type to a yarp::sig::Vector data type.yarptestdata_filename to latency-test companion.
It allows to load a file which will be transmitted over the network as
benchmark.
Different files can be used to test latency when using a compression
portmonitor (the compression factor will depend on the entropy of the file).yarprunYARP_LOG_PROCESS_LABEL is found, the label is
now appended to the executable name in the log port name
(e.g. /log/yaprunname/yarpdev[mylabel]/123123)robotinterface--dryrun option to test the xml file without actually opening devices.reverse-shutdown-action-order attribute for the robot tag.
This reverses the order of actions in shutdown and interrupt phase, making it
easier to write the actions when multiple attach and detach are involved.device tag parameters are now passed to all devices defined inside that
tag.YARP_PORTNUMBER<XXX> environment variable.
This allows to change the port number on which the corresponding port is
opened by setting the YARP_PORTNUMBER<XXX> environment variable to the
desired port number of the port.
For example: YARP_PORTNUMBER_read=20050 yarp read /read will open a port
named /read on the 20050 port.
Port numbers (if present) are applied before prefixes specified with
YARP_PORT_PREFIX and renames specified with YARP_RENAME (if present).
WARNING, if the same port is opened with the same name but different port
number by two processes, this might lead to port stealing by the latest
process executed.yarpidl_thriftget and get_all).yarp.name and yarp.includefile also for enums.yarp.bottlesize annotation, when the struct is not
serialized as a bottle but as a fixed size bottle-like structure (for example
other yarpidl_thrift generated structs).yarp.editor
annotation should be passed to the struct in order to enable it.yarpmotorguiyarplogger--unlimited_size which removes all limits on the log size.
To be used with caution!sigVectorOf<T>::emplace_back returning void. Now it returns a
reference to the new element as expected.yarploggerThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.5.0..v3.6.0):
151 Daniele E. Domenichelli <[email protected]>
113 Marco Randazzo <[email protected]>
24 Ettore Landini <[email protected]>
7 Bartek Łukawski <[email protected]>
6 Diego Ferigo <[email protected]>
5 Stefano Bernagozzi <[email protected]>
5 Stefano Dafarra <[email protected]>
2 Silvio Traversaro <[email protected]>
1 Marco Randazzo <[email protected]>
1 Ugo Pattacini <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
mathyarp::math::Quaternion::isValid()
yarp::math::FrameTransform::isValid()
idl_tools component.osLogyarprun.ResourceFindergetHomeContextPath and getHomeRobotPath.idl::WireReaderdevFixed parsing of parameters hw_gain and sw_gain in the two classes
AudioPlayerDeviceBase and AudioRecorderDeviceBase
Fixed issue with case insensitive file systems.
Added methods startStorageThread() and stopStorageThread() to interface
yarp::dev::IFrameTransformStorageUtils
robotinterfaceextern-name for non-string parameters.runyarprun on win32audioFromFileDevicecontrolBoard_nws_yarpcontrolBoard_nws_ros/joint_states is no longer appended to the topic name.controlboardremapperffmpeg_grabberffmpeg_writerframeGrabber_nws_rosframe_id parameter is no longer required to start with /.frameTransformClientframeTransformServerframeTransformGet_nwc_yarpframeTransformSetMultiplexerdeleteTransform() method.frameTransformStorageIFrameTransformStorageUtils::stopStorageThread and
IFrameTransformStorageUtils::startStorageThread.start method not called after successfully attaching to a
yarp::dev::IFrameTransformStorageGet interface.
The device is now able to update its FrameTransformContainer storage by
querying the device it was attached to.iFrameTransformStorageGet interface and did not return true when
successful.frameTransformContainercheckAndRemoveExpired().frameTransformContainer which was not correctly deleting old
transforms.frameTransformSet_nwc_yarpframeTransformSet_nws_yarpframeTransformGet_nwc_yarpframeTransformGet_nws_yarpframeTransformSet_nwc_rosframeTransformSet_nwc_ros::publishFrameTransforms.frameTransformSet_nws_rosyarp::os::Time::now().frameTransformGet_nwc_rossetStrict not called for the subscribers ports for the /tf and
/tf_static topics, that was causing a loss of frameTransforms.map2D_nws_yarpMap2D_nws_yarp::parse_vocab_command.opencv_grabber--flip_x, --flip_y and --transpose are now also available
when reading from file (--movie).rgbdSensor_nws_rosrgbdSensor_nws::open. The period was still in milliseconds.transformClienttransformClient, now avoiding race conditions during
server/client update via streaming port.image_compression_ffmpegyarploggeryarpmanagernon-existing but throwing an error when trying to connect.libYARP_math in the Python wheelsThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.5.0..v3.5.1):
26 Daniele E. Domenichelli <[email protected]>
23 Marco Randazzo <[email protected]>
20 Ettore Landini <[email protected]>
6 Diego Ferigo <[email protected]>
2 Bartek Łukawski <[email protected]>
1 Marco Randazzo <[email protected]>
1 Silvio Traversaro <[email protected]>
1 Stefano Bernagozzi <[email protected]>
1 Ugo Pattacini <[email protected]>
YARP is a library and toolkit for communication and device interfaces, used on everything from humanoids to embedded devices.
A (partial) list of bug fixed and issues resolved in this release can be found here.
sigImageovrheadset device driver was moved to
https://github.com/robotology/yarp-device-ovrheadset
realsense2, realsense2withIMU and realsense2Tracking device drivers
were moved to https://github.com/robotology/yarp-device-realsense2
YARP_CONFIG_DIRS defaults to /etc/xdg/yarp to be compliant with the
XDG Base Directory Specification
YARP_DATA_DIRS defaults to %%ALLUSERSPROFILE%%\yarp
YARP_CONFIG_DIRS defaults to %%ALLUSERSPROFILE%%\yarp\config
conffilesystem::path_separator is deprecated in favour of
environment::path_separator
yarp::conf::environment::getEnvironment is deprecated in favour of
yarp::conf::environment::get_string
yarp::conf::environment::setEnvironment is deprecated in favour of
yarp::conf::environment::set_string
yarp::conf::environment::unsetEnvironment is deprecated in favour of
yarp::conf::environment::unset
YARP_DEPRECATED_API and YARP_DEPRECATED_API_MSG defines are now
deprecated in favour of YARP_DEPRECATED_EXPORT, YARP_DEPRECATED_IMPORT,
YARP_DEPRECATED_MSG_EXPORT, and YARP_DEPRECATED_MSG_IMPORT.osBottleBOTTLE_TAG_INT is deprecated in favour of BOTTLE_TAG_INT32
BOTTLE_TAG_DOUBLE is deprecated in favour of BOTTLE_TAG_FLOAT64
BOTTLE_TAG_VOCAB is deprecated in favour of BOTTLE_TAG_VOCAB32
addInt is deprecated in favour of addInt32
addDouble is deprecated in favour of addFloat64
yarp::os::Bottle::addVocab() is deprecated in favour of
yarp::os::Bottle::addVocab32()
ConnectionReaderexpectInt is deprecated in favour of expectInt32
expectDouble is deprecated in favour of expectFloat64
ConnectionWriterappendInt is deprecated in favour of appendInt32
appendDouble is deprecated in favour of appendFloat64
LogStreamoperator<< for std::ostream and std::vector which caused conflicts
with Casadi was removed (#2067).NetTypetoHexString is deprecated in favour of yarp::conf::numeric::to_hex_string
toString is deprecated in favour of yarp::conf::numeric::to_string
toInt, toFloat32 and toFloat64 are deprecated in favour of
yarp::conf::numeric::from_string
ResourceFinderyarp::conf::dirs.
The following methods are now deprecated:
yarp::os::ResourceFinder::getDataHome()
yarp::os::ResourceFinder::getDataHomeNoCreate()
yarp::os::ResourceFinder::getConfigHome()
yarp::os::ResourceFinder::getConfigHomeNoCreate()
yarp::os::ResourceFinder::getDataDirs()
yarp::os::ResourceFinder::getConfigDirs()
in favour of:yarp::conf::dirs::yarpdatahome()
yarp::conf::dirs::yarpconfighome()
yarp::conf::dirs::yarpdatadirs()
Warnings:yarpdatadirs() is different
(std::vector<std::string> instead of std::string).yarpdatahome() and yarpconfighome() do not create the directory,
it must be created manually (for example with yarp::os::mkdir_p()) if
required.StampHeader instead of Stamp is now recommended.ValueisInt() is deprecated in favour of isInt32()
isDouble() is deprecated in favour of isFloat64()
asInt() is deprecated in favour of asInt32()
asDouble() is deprecated in favour of asFloat64()
makeInt() is deprecated in favour of makeInt32()
makeDouble() is deprecated in favour of makeFloat64()
isVocab() is deprecated in favour of isVocab32()
asVocab() is deprecated in favour of asVocab32()
makeVocab() is deprecated in favour of makeVocab32()
Vocabyarp::os::createVocab() is deprecated in favour of
yarp::os::createVocab32()
yarp::os::Vocab::encode() is deprecated in favour of
yarp::os::Vocab32::encode()
yarp::os::Vocab::decode() is deprecated in favour of
yarp::os::Vocab32::decode()
WireReadergetIsVocab() is deprecated in favour of getIsVocab32()
readVocab() is now deprecated in favour of readVocab32()
WireWriterwriteVocab() is now deprecated in favour of writeVocab32()
sigIntrinsicParamsYARP_PLUM_BOB is deprecated in favour of YARP_PLUMB_BOB.devyarp/dev/FrameGrabberControl2.h header file was properly marked as
deprecated (it should have been deprecated in YARP 3.0)yarp/dev/FrameGrabberInterfaces.h header file was deprecated.
All interfaces were moved in the corresponding header.framegrabber_protocol library were removed.
This is an API break, but nobody should be using these outside of YARP.VOCAB_NAV_CLEAR_X, defined in file ILocalization2D.h has been
renamed to VOCAB_NAV_CLEARALL_X to avoid confusion with flag
VOCAB_NAV_DELETE_X.
VOCAB_NAV_CLEARALL_X clears all data belonging to the same category (all
maps, all locations, all areas, etc), while VOCAB_NAV_DELETE_X, deletes a
single entity (a map with name x, a location with name x etc).IVisualParams.h file was deprecated in favour of IRgbVisualParams.h
and IDepthVisualParams.IFrameGrabber and IFrameGrabberRgb are now deprecated.IDepthVisualParamsretificationMatrix parameter was renamed rectificationMatrix
IRgbVisualParamsretificationMatrix parameter was renamed rectificationMatrix
robotinterfacerobotinterface library is no longer considered experimental, all
files in the experimental folder and classes in the experimental namespace
are now deprecated and will be removed in the next release.depthimage_compression_zfp (zfp)depthimage_to_mono (depthimage)depthimage_to_rgb (depthimage2)segmentationimage_to_rgb (segmentationimage)The following devices are now deprecated:
test_grabber in favour of fakeFrameGrabber
fakeMotor in favour of fakeMotionControl
test_motor in favour of fakeMotionControl
fakebot
The following devices will be replaced by NWS/NWC in the next release, and print a warning when opened:
controlboardwrapper2 (replaced by controlboardremapper + controlBoard_nws_yarp)RGBDSensorWrapper (replaced by rgbdSensor_nws_yarp)Rangefinder2DWrapper (replaced by rangefinder2D_nws_yarp)grabberDual (replaced by frameGrabber_nws_yarp, and eventually frameGrabberCropper)inertial (replaced by multipleanalogsensorsremapper + multipleanalogsensorsserver + IMURosPublisher)localization2DServer (replaced by localization2D_nws_yarp)map2DServer (replaced by map2D_nws_yarp)transformClient (replaced by frameTransformClient)transformServer (replaced by frameTransformServer)conf<yarp/conf/numeric.h>:
yarp::conf::numeric::from_string
yarp::conf::numeric::to_string
yarp::conf::numeric::to_hex_string
<yarp/conf/string.h> containing the following functions:
yarp::conf::string::split
yarp::conf::string::join
environment::path_separator
<yarp/conf/environment.h>:
yarp::conf::environment::get_string
yarp::conf::environment::set_string
yarp::conf::environment::get_bool
yarp::conf::environment::set_bool
yarp::conf::environment::get_numeric
yarp::conf::environment::set_numeric
yarp::conf::environment::split_path
yarp::conf::environment::join_path
yarp::conf::environment::get_path
yarp::conf::environment::set_path
yarp::conf::environment::unset
yarp::conf::environment::is_set
dirs.h file with methods to retrieve the important foldersstd::string yarp::conf::dirs::home()
std::string yarp::conf::dirs::tempdir()
std::string yarp::conf::dirs::datahome()
std::vector<std::string> yarp::conf::dirs::datadirs()
std::string yarp::conf::dirs::confighome()
std::vector<std::string> yarp::conf::dirs::configdirs()
std::string yarp::conf::dirs::cachehome()
std::string yarp::conf::dirs::runtimedir()
std::string yarp::conf::dirs::yarpdatahome()
std::vector<std::string> yarp::conf::dirs::yarpdatadirs()
std::string yarp::conf::dirs::yarpconfighome()
std::vector<std::string> yarp::conf::dirs::yarpconfigdirs()
std::string yarp::conf::dirs::yarpcachehome()
std::string yarp::conf::dirs::yarpruntimedir()
osyarp::os::Header class, intended to gradually replace the
yarp::os::Stamp class to handle envelopes, maintaining backwards
compatibility.
The differences with the Stamp class:
Header has an extra field to handle the frame id, making it comparable
with ROS std_msgs/Header
message.Stamp::getMaxCount() is replaced with Header::npos
Stamp::getCount() is replaced with Header::count()
Stamp::getTime() is replaced with Header::timeStamp()
BottleBOTTLE_TAG_VOCAB32 tag. This is the same as BOTTLE_TAG_VOCAB.BOTTLE_TAG_VOCAB is not recommended in new code, use
BOTTLE_TAG_VOCAB32 instead.addVocab32() overloads accepting 4 chars and string.DummyConnectorgetReader methods now accepts a ConnectionWriter as optional
parameter. This writer is returned by getWriter is called on the
ConnectionReader returned by the writer, and it is therefore used for the
replies in Portables and in a few other cases.LogYARP_FORWARD_CODEINFO_ENABLE, YARP_FORWARD_HOSTNAME_ENABLE,
YARP_FORWARD_PROCESSINFO_ENABLE, and YARP_FORWARD_BACKTRACE_ENABLE are no
longer considered experimental.PeriodicThreadclockAccuracy,
which enables drift compensation using an absolute time reference to ensure
all steps trigger at precise intervals, thus avoiding error accumulation over
time. Set it to PeriodicThreadClock::Absolute to enable the new behavior,
default is PeriodicThreadClock::Relative (old behavior). Beware that, in
absolute mode, starvation may occur if two busy threads share a common
resource (#2488).PeriodicThread(double period, PeriodicThreadClock clockAccuracy).Property.ini configuration files can now contain the command
[import <contextname> <filename>] which includes a .ini file from a
different context.ValuemakeVocab32() overload accepting 4 charsWireyarp() const overloadWireLinkbool write(const PortWriter& writer, PortReader& reader) const
WireReaderreadVocab32
readUI8
readUI16
readUI32
readUI64
readSizeT
WireWriterwriteVocab32
writeUI8
writeUI16
writeUI32
writeUI64
writeSizeT
addVocab32() overloads accepting 4 chars and stringsigfileyarp::sig::file::read_bytestream(Sound& data, const char* bytestream, size_t streamsize, std::string format)
utilsdepthRgbToPC to make the pointcloud
unorganized and remove zero points.Imagemove() and swap() methods.Soundvoid amplifyChannel(size_t channel, double gain)
void amplify(double gain)
void findPeakInChannel(size_t channelId, size_t& sampleId, audio_sample& sampleValue) const
void findPeak(size_t& channelId, size_t& sampleId, audio_sample& sampleValue) const
void normalizeChannel(size_t channel)
void normalize()
utilscropRect() helper function for cropping a rectangle area out of an
image given two opposite vertices.devWrapperSingle and WrapperMultiple helper classes, that
inherit from both IWrapper and IMultipleWrapper but require to implement
only one of these interfaces.IFrameGrabberOf<typename ImageType>.
It is now possible to implement the same interface as for IFrameGrabberImage
and IFrameGrabberImageRaw, but for different pixel types or for FlexImage.yarp::dev::AudioRecorderStatus
yarp::dev::AudioPlayerStatus
AudioPlayerDeviceBase, all playback device drivers now
inherit from this class.AudioRecorerDeviceBase, all recording device drivers now
inherit from this class.IFrameGrabberImagegetImageCrop method has now a working default implementation.IFrameGrabberImage interface is now an alias for
IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelRgb>>.IFrameGrabberImageRawgetImageCrop method has now a working default implementation.IFrameGrabberImageRaw interface is now an alias for
IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelMono>>.IAudioRenderbool setHWGain(double gain)
bool setSWGain(double gain)
IAudioGrabberSoundbool setHWGain(double gain)
bool setSWGain(double gain)
Lidar2DDeviceBaseLidar2DDeviceBase class, now implements yarp::dev::IPreciselyTimed.acquireDataFromHW() which is
pure virtual in Lidar2DDeviceBase
Lidar2DDeviceBase::updateLidarData, which calls acquireDataFromHW() and a
few other utility functions (e.g. updateTimestamp(), etc.)updateLidarData().Nav2D::IMap2Dbool clearAllMapsTemporaryFlags()
bool clearMapTemporaryFlags(std::string map_name)
bool saveLocationsAndExtras(std::string locations_collection_file)
bool loadLocationsAndExtras(std::string locations_collection_file)
Nav2D::MapGrid2Dvoid clearMapTemporaryFlags()
write() and read() methods handle the compression before sending data
to the network.enable_map_compression_over_network() to enables/disables data
compression over the network (default true). Compression is always disabled if
Zlib library is not available.Nav2D::Map2DLocationbool is_near_to(const Map2DLocation& other_loc, double linear_tolerance, double angular_tolerance) const
robotinterfaceThe robotinterface library is no longer considered experimental, files and classes have been moved accordingly.
robotinterface DTD version is now 3.1.
It is now possible to pass the device parameter to the attach action,
without defining network or networks. For example:
<device name="foo_name" type="foo_type">
<action phase="startup" level="5" type="attach">
<param name="device"> bar_name </param>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>
XMLReadergetRobotFromFile and getRobotFromString now accept a Searchable that
is used to replace params with the attribute extern-name.
The signatures are now:
XMLReaderResult getRobotFromFile(const std::string& filename,
const yarp::os::Searchable& config = yarp::os::Property());
XMLReaderResult getRobotFromString(const std::string& filename,
const yarp::os::Searchable& config = yarp::os::Property());
unix_stream carrier is no longer considered experimental.yarppm library (similar to yarpcar and yarpmod) that
links all the portmonitors in static builds.image_compression_ffmpeg port monitor to compress a video stream using
the H264, H265, or MPEG2VIDEO codec.sound_compression_mp3 port monitor to decompress a mp3 bytestream to
yarp::sig::Sound. Encoding not supported yet.depthimage_compression_zlib port monitor which uses the Zlib library
to compress/decompress (lossless) depth images through the network.AudioPlayerWrappersetHWGain() and setSWGain().xxx/status:o portAudioRecorderWrappersetHWGain() and setSWGain().xxx/status:o portfakeFrameGrabber--timestamp option to write the timestamp in the first bytes of the
image. This was previously automatically enabled in line mode, but it can
now be used in all modes.getImage() method no longer blocks the caller.
The --syncro option was added to restore the old behavior.topIsLow option and the set_topIsLow rpc command were added to produce
images with bottom to top scanlines.--noise options and set_noise RPC commands to add a a white noise to
the generated image.--snr option and set_snr RPC commands. to specify the signal noise
ratio if noise is enabled.fakeLasermap_context parameter to load a test map from a specific context.fakeMicrophonefakeNavigationframeTransformServergenerate_view which generates via dot (graphviz)
a pdf file, containing a diagram of the transforms tree.map2DServerenable_maps_compression <0/1> RPC command.navigation2DClientgetNameOfCurrentTarget() logic moved from Navigation2DClient to
navigation2DServer.yarpdataplayer-console tool that works without without a graphic
server.yarpread subcommand now accepts the trim argument to reduce the number of
characters printed for each message received.yarp latency-test: performs a latency test exchanging data between a
server and a client node.yarp repeat: repeats in an output port all data received in an input port.
The command is useful to control stream flows on a wifi/mobile connection.yarp stats: opens a temporary port to receive data from a remote port (at
maximum speed). It also prints basic statistics about data trasferred on the
instantiated connection.yarp trafficgen: sends generated data over a yarp port. The tool allows to
test the communication and the available bandwidth over the network.yarpdatadumper--type parameter are now supported:
bottle (default)image
image_jpg
image_png
video
depth
depth_compressed
yarprobotinterfaceextern-name.yarpidl_thriftuint8_t, uint16_t, uint32_t, uint64_t, size_t,
float32_t and float64_t using annotated types.
It is now possible to use these types in thrift by defining them using a
typedef, for example:
typedef i32 ( yarp.type = "yarp::conf::vocab32_t" ) vocab
typedef i8 ( yarp.type = "std::uint8_t" ) ui8
typedef i16 ( yarp.type = "std::uint16_t" ) ui16
typedef i32 ( yarp.type = "std::uint32_t" ) ui32
typedef i64 ( yarp.type = "std::uint64_t" ) ui64
typedef i32 ( yarp.type = "size_t" ) size_t
typedef double ( yarp.type = "yarp::conf::float32_t" ) float32
typedef double ( yarp.type = "yarp::conf::float32_t" ) float64
struct TestAnnotatedTypes
{
1: vocab a_vocab,
2: ui8 a_ui8,
3: ui16 a_ui16,
4: ui32 a_ui32,
5: ui64 a_ui64,
6: float32 a_float32,
7: float64 a_float64,
8: size_t a_size;
}
typedef i32 ( yarp.type = "yarp::conf::vocab32_t" ) vocab
struct FooStruct
{
1: vocab foo;
}
struct Foo
{
1: double foo1;
2: double foo2;
}
struct Bar
{
1: double bar1;
2: Foo ( yarp.nested = "true" );
}
Bar struct will be serialized as bar1 (foo1 foo2), instead of as a
flat struct bar1 foo1 foo2.yarp.qualifier annotation. For example, this code:
service Foo {
bool const_method() (yarp.qualifier = "const");
}
Foo with this method:
bool const_method() const
yarpview--rightout <portname> option that enables intercepting the mouse
right button click events:
press point and of
the release one to the specified output port)Image/Intercept right click checkable menu item to enable/disable
the right click interception (not available in minimal or compact mode or
if the --rightout option was not enabled).depth and depth_compressed data types.yarpdataplayer tool was refactored, several bugs fixed, and new features
added (#1144, #2140, #2151, #2400, #2401, #2442).std::vector<short int>.yarp::sig::VectorOf<int>.yarp::sig::Sound
sound2VecNonInterleaved()
vecNonInterleaved2Sound()
sound2VecInterleaved()
vecInterleaved2Sound()
EXPERIMENTAL means that the software is under development, provided with incomplete documentation and it may be modified/renamed/removed without any notice.
websocket carrier.
It works only on the receiving side, and it works on an http request
that starts with "GET /?ws" (for example 'http://127.0.0.1:10002/?ws'
or 'ws://127.0.0.1:10002/?ws' if a read port is opened by yarp).
The websocket, on the browser side, needs to communicate using the YARP
protocol.RGBDFromRosTopic: it can be wrapped by RGBDSSensorWrapper to make RGBD
data, collected by a ROS device, available on YARP via RGBDSensorClient.map2DStorage: store navigation data, e.g MapGrid2D,Map2DLocation etc.
It implements all the logic previously located inside device 'Map2DServer'.audioFromFileDevice: wrapped by audioRecorderWrapper.audioToFileDevice: wrapped by audioPlayerWrapper.frameGrabberCropper: attaches to a frameGrabber and published part of the
imageframeTransformStorage
frameTransformSetMultiplexer
frameTransformGetMultiplexer
controlBoard_nws_ros: ROS NWS that can be used to replace
controlboardwrapper2 (does not handle networks, use controlboardremapper
for that). It requires that the yarp::dev::IAxisInfo is implemented in the
device.controlBoard_nws_yarp: YARP NWS that can be used to replace
controlboardwrapper2 (does not handle networks, use controlboardremapper
for that).frameGrabber_nws_ros: ROS NWS that can be used to replace
grabberDual (does not handle image split, use frameGrabberCropper for
that)frameGrabber_nws_yarp: YARP NWS that can be used to replace
grabberDual (does not handle image split, use frameGrabberCropper for
that)frameGrabber_nwc_yarp: YARP NWC that can be used to replace
remote_grabber
localization2D_nws_ros: ROS NWS for devices which implement the
ILocalization2D interface, that can be used to replace
localization2DServer.localization2D_nws_yarp: YARP NWS for devices which implement the
ILocalization2D interface, that can be used to replace
localization2DServer.map2D_nws_ros: ROS NWS for a map2DStorage device.map2D_nws_yarp: YARP NWS for a map2DStorage device.rangefinder2D_nws_ros: ROS NWS for devices exposing
IRangefinder2D interface.rangefinder2D_nws_yarp: YARP NWS for devices exposing
IRangefinder2D interface.rgbdSensor_nws_ros: ROS NWS to replace RGBDSensorWrapper.rgbdSensor_nws_yarp: YARP NWS to replace RGBDSensorWrapper.rgbdToPointCloudSensor_nws_ros: enables point cloud publication from yarp
to ros. It converts RGBD data to point cloud and publishes it on a ros
topic.frameTransformGet_nws_ros
frameTransformGet_nws_yarp
frameTransformSet_nws_ros
frameTransformSet_nws_yarp
All these interfaces have the following differences with their original
wrappers:nws_ros devices no longer have the "ROS_" prefix".frameTransformClient and frameTransformServer.
These devices are mostly empty containers for multiple plugins that can be
combined together through a yarprobotinterface xml file.
Different configuration files can be used for different purposes, such as
publishing/subscribing transforms on YARP, ROS, ROS2 etc. Please refer to the
documentation for additional details.
Old devices with frame transform management functionality are called
transformServer and transformClient. These devices should be now
considered deprecated and they must be not confused with the new devices
included in this PR. A yarp page documentation has been added to show the
different possible configurations.laserFromRosTopic is still considered EXPERIMENTAL, since it will
be replaced by an appropriate NWCpip.
A new yarp-middleware package is now distributed in PyPI.sigImagetopIsLow flag is now properly handled, kept in sync with the internal
IplImage, and forwarded through the network.ImageFileSavePNG() producing corrupted output files.portmonitorgrabberDualtopIsLow flag is no longer changed.RGBDSensorClientmap2DServerThis is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.4.0..v3.5.0):
477 Daniele E. Domenichelli <[email protected]>
201 Marco Randazzo <[email protected]>
92 Stefano Bernagozzi <[email protected]>
62 Ettore Landini <[email protected]>
50 Giulia Martino <[email protected]>
16 Bartek Łukawski <[email protected]>
13 Diego Ferigo <[email protected]>
12 Silvio Traversaro <[email protected]>
10 Fabio Valla <[email protected]>
8 Nicolò Genesio <[email protected]>
7 Valentina Vasco <[email protected]>
5 Plinio Moreno <[email protected]>
5 Ugo Pattacini <[email protected]>
4 Vadim Tikhanoff <[email protected]>
2 Gianpaolo Bontempo <[email protected]>
2 Johnny Willemsen <[email protected]>
2 Stefano Dafarra <[email protected]>
1 Aiko Dinale <[email protected]>
1 Giuseppe L'Erario <[email protected]>
1 Nicola Piga <[email protected]>
A (partial) list of bug fixed and issues resolved in this release can be found here.
yarpros tool is no longer compiled when YARP_COMPILE_EXECUTABLES is disabled. (#2598)sigImagedevDeviceResponderyarpviewlocalization2DClientgetEstimatedOdometry().navigation2DClientgetEstimatedOdometry(),localization2DServerThis is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.4.5..v3.4.6):
15 Daniele E. Domenichelli <[email protected]>
2 Marco Randazzo <[email protected]>
1 Silvio Traversaro <[email protected]>