YARP
Yet Another Robot Platform
YARP <master> (UNRELEASED)

YARP <master> Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found here.

Important Changes

Devices

libYarp_dev

  • added new base class AudioRecorderDeviceDriver

examples

  • Removed deprecated example soundgrabber

Bindings

SWIG

  • Add support for std::vector<short int>
  • Add extensions sound2VecNonInterleaved() vecNonInterleaved2Sound() sound2VecInterleaved() vecInterleaved2Sound() to Class yarp::sig::Sound

Important Changes

  • OpenCV 2 is no longer supported.

Libraries

os

<tt>yarp::os::DummyConnector</tt>

  • The getReader 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.

Important Changes

Devices

fakeLaser

  • added rpc port to device fakeLaser
  • through the rpc is possible to dynamically create obstacles in the map.
  • Use the rpc command 'help' to get additional information
  • Improved the ray tracing algorithm: laser scans are now bound to the map size

GUIs

<tt>yarpview</tt>

  • Added the possibility to intercept the mouse right button click event.
  • As for the mouse left button click event, there are two possibilities:
    • Single click (sends the current cursor coordinates to the specified output port)
    • Press, drag, and release (sends the coordinates of the press point and of the release one to the specified output port)
  • To enable this feature the user has to specify a name for the output port that will send the cursor coordinates to the YARP network using the --rightout option with the desired output port name, e.g. ``` yarpview –rightout /outRight ``
  • If the ouput port has been specified, menu bar, under the voiceImage, will have a new checkable menu item, i.e.Intercept right click<tt>(checked by default) that will allow the user to enable/disable the right click interception, if he/she erver needs to (obviously this option is not available inminimalorcompact` mode since the menu is not accessible).
  • The line drawn while dragging with the right button will be green in order to easily distinguish it from the one drawn with the left button.

Devices

frameTransformServer

  • Added a new rpc command generate_view which generates via dot (graphviz) a pdf file, containing a diagram of the transforms tree

Important Changes

Libraries

dev

  • Added method Map2DLocation::is_near_to()

Carriers

<tt>portmonitor</tt>

  • The reply handler is now set correctly, it is therefore now possible to monitor RPC connections.

Important Changes

Devices

Devices

<tt>RGBDFromRosTopic</tt>

  • Added new device RGBDFromRosTopic.
  • It can be wrapped by RGBDSSensorWrapper to make RGBD data, collected by a ROS device, available on Yarp via RGBDSensorClient

Bug Fixes

Devices

<tt>RGBDSensorClient</tt>

  • The device no longer crashes when no image was received yet (#2349).
  • The timestamp is now correct.

Bindings

SWIG

CMake

  • added optional zlib dependency

yarp::sig

ImageFile.cpp

  • added enum::image_fileformat::FORMAT_NUMERIC_COMPRESSED
  • added methods: ImageReadFloat_CompressedHeaderless()
  • added methods: ImageReadFloat_PlainHeaderless()
  • fixed bug in: SavePNG() the output file was corrupted

yarp guis

yarpdataplayer

  • yarpdataplayer is now able to reproduce depth and depth_compressed data types

yarp command line tools

yarpdatadumper

  • yarpdatadumper now supports the following data outputs for parameter –type bottle(default), image, image_jpg, image_png, video, depth, depth_compressed