YARP
Yet Another Robot Platform
YARP 3.3.0 (2019-12-05)

Table of Contents

YARP 3.3.0 Release Notes

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

Important Changes

Dependencies

  • CMake 3.12 or later is now required.
  • Optional dependency on YCM now requires version 0.11.0 or later.
  • C++14 is now required.
  • OpenCV 4 is now explicitly unsupported.
  • Visual Studio 2015 is no longer supported.

Build System

  • CMake config files are now installed in lib/cmake also on windows.
  • The OS component is deprecated in favour of os (lowercase).

Libraries

YARP_os

YARP_dev

New Features

Build System

  • The yarp_idl_to_dir command now accepts the PLACEMENT option:
    • MERGED: headers and sources in <OUTPUT_DIR>/<namespace>
    • SEPARATE: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src/<namespace>
    • SEPARATE_EVEN: alias for SEPARATE
    • SEPARATE_ODD: headers in <OUTPUT_DIR>/include/<namespace> sources in <OUTPUT_DIR>/src For backwards compatibility the default value is SEPARATE_ODD.
  • After calling the yarp_add_idl method, the YARP_ADD_IDL_INCLUDE_DIR variable contains the include directory for using the header files

Libraries

YARP_conf

YARP_os

  • Cleanup of the signature of the following methods of yarp::os::Network:
    • static bool connect(const std::string& src, const std::string& dest, const ContactStyle& style)
    • static bool connect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
    • static bool connect(const char* src, const char* dest, const char* carrier, bool quiet = true)
    • static bool disconnect(const std::string& src, const std::string& dest, bool quiet)
    • static bool disconnect(const std::string& src, const std::string& dest, const ContactStyle& style)
    • static bool disconnect(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
    • static bool disconnect(const char* src, const char* dest, const char* carrier, bool quiet = true)
    • static bool isConnected(const std::string& src, const std::string& dest, bool quiet)
    • static bool isConnected(const std::string& src, const std::string& dest, const ContactStyle& style)
    • static bool isConnected(const std::string& src, const std::string& dest, const std::string& carrier = "", bool quiet = true)
    • static bool isConnected(const char* src, const char* dest, const char* carrier, bool quiet = true)
  • Added move constructor and assignment operator to yarp::os::Searchable.
  • Added move constructor and assignment operator to yarp::os::Bottle.
  • Added move constructor and assignment operator to yarp::os::Property.
  • Added constructors that accept std::mutex instead of yarp::os::Mutex to yarp::os::Timer.
  • The Log colors can now be enabled also on windows when supported (robotology/yarp#2076)
  • Added setCallbackLock overrides to yarp::os::Contactable, yarp::os::AbstractContactable, yarp::os::Port, yarp::os::BufferedPort to pass a std::mutex instead of a yarp::os::Mutex.

YARP_dev

  • Added new interface yarp::dev::IFrameTranformClientControl
  • yarp::dev::TransformClient implements the new interface yarp::dev::IFrameTranformClientControl.
  • The rpc port of the yarp::dev::TransformClient allows to reconnect to the server.
  • yarp::dev::TransformServer allows the use of wildcard to erase all the transforms between a specified source and * or between * and a specified destination.
  • The rpc port of the yarp::dev::TransformServer allows to delete a given transform.

YARP_run

  • The ENABLE_YARPRUN_LOG fixed and deprecated in favour of YARP_ENABLE_YARPRUN_LOG.

Tools

yarpidl_trift
  • yarpidl_thrift now places the source files according to the "separate" layout.

yarpdatadumper
  • Fixed creating directories whose name contains not allowed characters (e.g. :, *, ...).
  • It's now possible to dump PNG images.
  • The timestamp info are now provided within info.log.

GUIs

yarpdataplayer
  • info.log files containing timestamp info are now handled.

devices

multipleanalogsensorsclient

  • Added the option externalConnection(false by default). This option disables the automatic connect to the rpc:o and measures:o of the respective multipleanalogsensorsserver. This implies that with this configuration the metadata is missing, then the device lacks of some informations such as the sensor name, the frame name etc. On the other hand it allows to connect/disconnect the client to the port measures:o of the server after being opened, and to work also when the rpc:o port is missing (e.g with the yarpdataplayer).

realsense2
  • Deprecated the needAlignment parameter in favour of alignmentFrame. The default behaviour has been maintaned, if not specified alignmentFrame is RGB. The allowed values are RGB, Depth and None.

mjpeg
  • The MJPEG_AUTOCOMPRESS CMake option is deprecated in favour of YARP_MJPEG_AUTOCOMPRESS

mpi
  • The MPI_DEBUG_MSG CMake option is deprecated in favour of YARP_MPI_DEBUG_MSG.

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.2.0..v3.3.0):

332 Daniele E. Domenichelli <daniele.domenichelli@iit.it>
26 Nicolò Genesio <nicolo.genesio@iit.it>
7 Ugo Pattacini <ugo.pattacini@iit.it>
5 Vadim Tikhanoff <vadim.tikhanoff@iit.it>
4 Marco Randazzo <marco.randazzo@iit.it>
2 Bartek Łukawski <bwmn.peter@gmail.com>
1 Carlotta Sartore <carlotta.sartore@iit.it>
1 Giovanni Saponaro <gsaponaro@isr.tecnico.ulisboa.pt>
1 Giulio Romualdi <giulio.romualdi@gmail.com>
1 Nicola Piga <nicolapiga@gmail.com>
1 Silvio Traversaro <silvio.traversaro@iit.it>
1 Valentina Gaggero <valentina.gaggero@iit.it>