YARP 3.7.0 (2022-05-25)

Table of Contents

• YARP 3.7.0 Release Notes
  • Deprecation and Behaviour Changes
    • <tt>lib_yarp_os</tt>
    • <tt>Devices</tt>
  • New Features
    • Libraries
      • <tt>lib_yarp_os</tt>
      • <tt>lib_yarp_dev</tt>
      • <tt>lib_yarp_companion</tt>
      • <tt>libYARP_robotinterface</tt>
    • Devices
      • <tt>audioToFileDevice</tt>
    • Port Monitors
    • Tools
      • <tt>yarpidl_thrift</tt>
    • GUIs
      • <tt>yarpmotorgui</tt>
  • Bug Fixes
    • Catch2
    • CMake
    • GUIs
      • <tt>yarpmotorgui</tt>
  • Contributors

YARP 3.7.0 Release Notes

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

Deprecation and Behaviour Changes

<tt>lib_yarp_os</tt>

• Removed old deprecated functions related to the usage of unsafe network data types (e.g. asVocab() -> asVocab32(), asInt() -> asInt32(), asDouble -> asFloat64() etc.)

<tt>Devices</tt>

• removed deprecated devices: NavigationServer -> please use: navigation2D_nws_yarp NavigationClient -> please use: navigation2D_nwc_yarp Map2DServer -> please use: map2D_nws_yarp Map2DClient -> please use: map2D_nwc_yarp Localization2DCServer -> please use: localization2D_nws_yarp Localization2DClient -> please use: localization2D_nwc_yarp rangefinder2DWrapper -> please use: rangefinder2D_nws_yarp

New Features

Libraries

<tt>lib_yarp_os</tt>

idl/WireReader

• Added readBlock method.

idl/WireWriter

• Added writeBlock method.
• Added skip_tag flag to all write methods.

<tt>lib_yarp_dev</tt>

• ITorqueControl supports four new friction parameters: viscousPos, viscousNeg, coulombPos, coulombNeg. These parameters are used to improve the friction model (and its compensation at FW level).

<tt>lib_yarp_companion</tt>

• added 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.

<tt>libYARP_robotinterface</tt>

• Added support to ${portprefix} variable in parameters (#2819).

Devices

<tt>audioToFileDevice</tt>

• added new option --add_marker
• added new option --save_mode break_file

Port Monitors

• Added new portmonitor depthimage_to_vector
• added new portmonitor sound_marker

Tools

<tt>yarpidl_thrift</tt>

• Improved serialization for lists of basic types. When possible, instead of being serialized element by element, lists of basic types are now serialized as blocks.

GUIs

<tt>yarpmotorgui</tt>

• Added an alternative visualization to the tree view on the left of the yarpmotorgui. It is a Widget visualization with the flow layout. In this way, it is possible to see the status of all the joints in a single screen.

Bug Fixes

Catch2

• Imported Catch v2.13.8 (#2795). This fixes building the unit tests on some configurations.

CMake

• fixed compatibility with CMake 3.23.1 on macOS.

GUIs

<tt>yarpmotorgui</tt>

• The target box for the joints sliders now lands where expected (#2824).

Contributors

This 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 <marco.randazzo@iit.it>
20  Stefano Dafarra <stefano.dafarra@iit.it>
14  Daniele E. Domenichelli <daniele.domenichelli@iit.it>
13  Silvio Traversaro <silvio.traversaro@iit.it>
10  Simone Girardi <simone.girardi@iit.it>
 2  Ugo Pattacini <ugo.pattacini@iit.it>
 1  Ettore Landini <ettore.landini@iit.it>
 1  Matteo Brunettini <matteo.brunettini@iit.it>
 1  Simone <simone.girardi@iit.it>
 1  robotology-bot (Tag Repository Action) <robotology@iit.it>