YARP 3.5.1 (2021-11-10)

Table of Contents

• YARP 3.5.1 Release Notes
  • New Features
    • Libraries
      • <tt>math</tt>
    • Build System
    • Libraries
      • <tt>os</tt>
    • <tt>dev</tt>
    • <tt>robotinterface</tt>
    • <tt>run</tt>
    • Devices
      • <tt>audioFromFileDevice</tt>
      • <tt>controlBoard_nws_yarp</tt>
    • <tt>controlBoard_nws_ros</tt>
      • <tt>controlboardremapper</tt>
      • <tt>ffmpeg_grabber</tt>
      • <tt>ffmpeg_writer</tt>
    • <tt>frameGrabber_nws_ros</tt>
      • <tt>frameTransformClient</tt>
      • <tt>frameTransformServer</tt>
      • <tt>frameTransformGet_nwc_yarp</tt>
      • <tt>frameTransformSetMultiplexer</tt>
      • <tt>frameTransformStorage</tt>
      • <tt>frameTransformContainer</tt>
      • <tt>frameTransformSet_nwc_yarp</tt>
      • <tt>frameTransformSet_nws_yarp</tt>
      • <tt>frameTransformGet_nwc_yarp</tt>
      • <tt>frameTransformGet_nws_yarp</tt>
      • <tt>frameTransformSet_nwc_ros</tt>
      • <tt>frameTransformSet_nws_ros</tt>
      • <tt>frameTransformGet_nwc_ros</tt>
      • <tt>map2D_nws_yarp</tt>
      • <tt>opencv_grabber</tt>
      • <tt>rgbdSensor_nws_ros</tt>
      • <tt>transformClient</tt>
    • Port Monitors
      • <tt>image_compression_ffmpeg</tt>
    • GUIs
      • <tt>yarplogger</tt>
      • <tt>yarpmanager</tt>
    • Bindings
      • Python
  • Contributors

YARP 3.5.1 Release Notes

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

New Features

Libraries

<tt>math</tt>

• added method yarp::math::Quaternion::isValid()
• added method yarp::math::FrameTransform::isValid()

Build System

• Fixed infinite loop when using yarp_add_idl and yarp_idl_to_dir without searching the idl_tools component.
• Fixed build on Ubuntu Bionic when both PCL and OpenNI are enabled

Libraries

<tt>os</tt>

Log

• Fixed custom log components not forwarding the log properly when running under yarprun.

ResourceFinder

• Fixed folder creation in getHomeContextPath and getHomeRobotPath.

idl::WireReader

• Fixed reading empty string as latest argument.

<tt>dev</tt>

• Fixed 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

<tt>robotinterface</tt>

• Fixed extern-name for non-string parameters.

<tt>run</tt>

• Fixed handling of multiple environment variables with yarprun on win32

Devices

<tt>audioFromFileDevice</tt>

• Fixed module when channels are > 1

<tt>controlBoard_nws_yarp</tt>

• Fixed segmentation fault if the device to which the nws attempts to attach was not successfully opened.

<tt>controlBoard_nws_ros</tt>

• /joint_states is no longer appended to the topic name.

<tt>controlboardremapper</tt>

• Fixed segmentation fault.

<tt>ffmpeg_grabber</tt>

• Fixed symbol lookup runtime error.

<tt>ffmpeg_writer</tt>

• Fixed symbol lookup runtime error.

<tt>frameGrabber_nws_ros</tt>

• The frame_id parameter is no longer required to start with /.

<tt>frameTransformClient</tt>

• Fixed concurrent access to the internal container.
• Timestamp is now set also for static_transforms
• Updated xml files according to the changes to the subdevices.

<tt>frameTransformServer</tt>

• Updated xml files according to the changes to the subdevices.

<tt>frameTransformGet_nwc_yarp</tt>

• Fixed missing callback initialization. Without it, no data was collected from the streaming port.

<tt>frameTransformSetMultiplexer</tt>

• fixed race condition issue in deleteTransform() method.

<tt>frameTransformStorage</tt>

• Fixed race condition issue: added extra mutex to protect the periodicThread from set/get/delete operations
• the periodic thread can be now stopped/started on request by methods IFrameTransformStorageUtils::stopStorageThread and IFrameTransformStorageUtils::startStorageThread.
• Fixed 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.
• Fixed attach function that did not performed the view on the iFrameTransformStorageGet interface and did not return true when successful.

<tt>frameTransformContainer</tt>

• Added new iterator class. It iterates only on valid transforms.
• when a transform is deleted, it is marked as invalid. The transform is then removed during the next iteration of the checkAndRemoveExpired().
• Fixed bug in frameTransformContainer which was not correctly deleting old transforms.

<tt>frameTransformSet_nwc_yarp</tt>

• The device was refactored in order to easily manage ports names.

<tt>frameTransformSet_nws_yarp</tt>

• The device was refactored in order to easily manage ports names.

<tt>frameTransformGet_nwc_yarp</tt>

• The device was refactored in order to easily manage ports names.

<tt>frameTransformGet_nws_yarp</tt>

• The device was refactored in order to easily manage ports names.

<tt>frameTransformSet_nwc_ros</tt>

• Fixed bug in frameTransformSet_nwc_ros::publishFrameTransforms.

<tt>frameTransformSet_nws_ros</tt>

• Fixed time stamps of the static transforms wrongly set to yarp::os::Time::now().

<tt>frameTransformGet_nwc_ros</tt>

• Fixed setStrict not called for the subscribers ports for the /tf and /tf_static topics, that was causing a loss of frameTransforms.

<tt>map2D_nws_yarp</tt>

• Fixed typos in Map2D_nws_yarp::parse_vocab_command.

<tt>opencv_grabber</tt>

• Efficiency has been improved as copies are (in most cases) no longer performed in order to convert from OpenCV frames to YARP image structures.
• Options --flip_x, --flip_y and --transpose are now also available when reading from file (--movie).

<tt>rgbdSensor_nws_ros</tt>

• Fixed bug in rgbdSensor_nws::open. The period was still in milliseconds.

<tt>transformClient</tt>

• Fixed method delete in transformClient, now avoiding race conditions during server/client update via streaming port.

Port Monitors

<tt>image_compression_ffmpeg</tt>

• Fixed symbol lookup runtime error.

GUIs

<tt>yarplogger</tt>

• Fixed bug.

<tt>yarpmanager</tt>

• Port names containing trailing or leading white spaces not targeted as non-existing but throwing an error when trying to connect.

Bindings

Python

• Enable compilation of libYARP_math in the Python wheels

Contributors

This 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 <daniele.domenichelli@iit.it>
23  Marco Randazzo <marco.randazzo@iit.it>
20  Ettore Landini <ettore.landini@iit.it>
 6  Diego Ferigo <diego.ferigo@iit.it>
 2  Bartek Łukawski <bwmn.peter@gmail.com>
 1  Marco Randazzo <marco.randaz@iit.it>
 1  Silvio Traversaro <silvio.traversaro@iit.it>
 1  Stefano Bernagozzi <stefano.bernagozzi@iit.it>
 1  Ugo Pattacini <ugo.pattacini@iit.it>