Yet Another Robot Platform

Part of a series of examples on the different ways of using ports. See Port power tutorial.

* SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
* SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
* SPDX-License-Identifier: BSD-3-Clause
#include <stdio.h>
#include <yarp/os/all.h>
using namespace yarp::os;
int main() {
Network yarp;
BufferedPort<Bottle> p; // Create a port.
p.open("/in"); // Give it a name on the network.
while (true) {
Bottle *b = p.read(false); // Read from the port. Don't wait
if (b!=NULL) {
printf("Got %s\n", b->toString().c_str());
} else {
printf("No data yet...\n");
return 0;
void delay(double seconds)
Wait for a certain number of seconds.
Definition: Time.cpp:111
An interface to the operating system, including Port based communication.
The main, catch-all namespace for YARP.
Definition: dirs.h:16
int main(int argc, char *argv[])
Definition: yarpros.cpp:264