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YARP 2.3.70 (2017-06-15)

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@mbrunettini mbrunettini released this 22 Jun 10:57
· 7564 commits to master since this release
v2.3.70
6fafdd7

YARP 2.3.70 Release Notes

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

Important Changes

System Configuration

  • The YARP_CONF environment variable has been deprecated for a long time
    (since April 2013) and it is no longer used. Since there was not a proper
    warning, the warning is printed now at runtime when the variable is set. See
    ResourceFinder::getConfigHome() documentation
    for informations about paths used by YARP to detect the configuration files.
    If you still need to use the YARP_CONF for some reason, you can use the
    YARP_CONFIG_HOME environment variable instead.

Build System

  • A compiler supporting C++11 is now required.
  • CMake 3.0 or newer is now required.
  • Optional dependency on YCM now requires version 0.4.0 (devel) or later.
  • Robot Testing Framework (RTF)
    1.2.0 is now an optional dependency.

CMake Modules

  • YarpPlugin
    • The following commands, deprecated since YARP 2.3.21, were removed:
      • BEGIN_PLUGIN_LIBRARY
      • ADD_PLUGIN_NORMALIZED
      • PREPARE_PLUGIN
      • PREPARE_DEVICE
      • PREPARE_CARRIER
      • END_PLUGIN_LIBRARY
      • ADD_PLUGIN_LIBRARY_EXECUTABLE
      • YARP_ADD_PLUGIN_LIBRARY_EXECUTABLE
  • The YARP_HAS_NAME_LIB variable has been removed since YARP_name is always
    available, and is considered a private library.
  • All CMake targets now export the include directories required to build using
    that library. Using include_directories(${YARP_INCLUDE_DIRS}) should no
    longer be required.
  • YarpPlugin.cmake and YarpInstallationHelpers.cmake are now automatically
    included from YARPConfig.cmake, therefore all commands defined in these
    files are available after find_package(YARP). Including them explicitly is
    now considered deprecated. For the same reason, adding YARP_MODULE_PATH to
    the CMAKE_MODULE_PATH variable is considered deprecated. If you need some
    modules not available in CMake, please consider using YCM.

Libraries

  • A lot of refactoring was performed in order to improve c++11 usage and to
    simplify porting to other platforms without ACE

YARP_conf

  • Added the new YARP_conf header only library target. Formerly these files
    existed but they did not belong to any target.

YARP_OS

  • The i command is now enabled only in Debug and DebugFull builds.
  • The following commands have been marked as deprecated and will be removed in
    future version of YARP:
    • yarp::os::exit()
    • yarp::os::abort()
    • yarp::os::signal()
    • yarp::os::ResourceFinder::setContext(const char* contextName)

YARP_dev

  • Opening a device using a configuration of type (device (device (foo bar)))
    is now deprecated, use (device (foo bar)) instead.
  • Removed some old interfaces methods, deprecated since yarp 2.3.65.
    i.e: setPositionDirectMode(), setPositionMode(), setVelocityMode(),
    setOpenLoopMode(), setTorqueMode()`, etc.
  • Removed Interface IOpenLoopControl, deprecated since yarp 2.3.65.
  • Removed deprecated device ClientControlBoard and related tests.
  • Removed deprecated device ServerControlBoard and related tests.
  • Major changes to iPIDControl methods. Now they aren't bound anymore to
    Position Control. (#499)
    They accept a new parameter PidControlTypeEnum which defines the PID id
    on which the method will operate.
    For example
    setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid).
    Currently, pidtype can be one of the following types:
    • VOCAB_PIDTYPE_POSITION,
    • VOCAB_PIDTYPE_VELOCITY,
    • VOCAB_PIDTYPE_TORQUE,
    • VOCAB_PIDTYPE_CURRENT.
  • All pid-related methods from interfaces different from iPidControl have been
    deprecated.
    To provide backward-compatibility, old methods automatically call the new
    methods (e.g. setTorquePid(int j, const Pid &pid) calls
    setPid(VOCAB_PIDTYPE_TORQUE,int j,const PID &pid))
  • The following methods have been deprecated, use
    IControlMode2::setControlMode(int, VOCAB_CM_XXX) instead:
    • IControlMode::setPositionMode(int)
    • IControlMode::setVelocityMode(int)
    • IControlMode::setTorqueMode(int)
    • IControlMode::setImpedancePositionMode(int)
    • IControlMode::setImpedanceVelocityMode(int)
    • ...plus their IControlModeRaw counterparts

YARP_math

  • YARP_math can no longer be built using GSL. The CREATE_LIB_MATH_USING_GSL
    option was removed. Only Eigen is supported. FindGSL.cmake is no longer
    installed.

New Features

CMake Modules

  • YarpPlugin
    • Add QUIET/VERBOSE arguments and YarpPlugin_QUIET/VERBOSE variables.
  • YarpInstallationHelpers
    • A new command yarp_configure_plugins_installation has been introduced to
      simplify installation of YARP plugins when
      yarp_configure_external_installation is not invoked.

Libraries

  • New library libYARP_rtf to simplify the creation of unit tests using the
    Robot Testing Framework (RTF)
    and YARP. This is a slightly modified version of the RTF_YARP_utilities
    library in RTF 1.0.
    It can be enabled with the option YARP_COMPILE_RTF_ADDONS.

YARP_OS

  • The following methods were added to the yarp::os namespace:
    • char* yarp::os::getcwd(char *buf, size_t size)
    • int yarp::os::fork(void)
  • The following methods were added to the yarp::os::Publisher class:
    • virtual void onRead(T &datum)
    • void useCallback(TypedReaderCallback< T > &callback)
    • void useCallback()
    • void disableCallback()
  • The following methods were added to the yarp::os::Subscriber class:
    • void setStrict(bool strict = true)
  • The following overload method is added to the yarp::os::ResourceFinder
    class:
    • bool setDefaultContext(const yarp::os::ConstString& contextName)
  • Added clear() method to PID class.
  • The class yarp::os::Route was refactored:
    • The following methods were deprecated:
      • addFromName()
      • addToName()
      • addCarrierName()
      • addToContact()
    • The following methods were added:
      • setFromName()
      • setToName()
      • setCarrierName()
      • setToContact()
      • swapNames()

YARP_dev

  • Added getRgbResolution and getRgbSupportedConfigurations to the
    IRgbVisualParams interface.
  • Added the new yarp::dev::IJoypadController interface and the new
    JoypadControlClient and JoypadControlServer devices.
  • Added rpc port to dialogue with FrameTransformClient.
    The implemented commands are:
    • get_transform: print the transform from src to dst
    • list_frames: print all the available refence frames
    • list_ports: print all the opened ports for tranform broadcasting
    • publish_transform: opens a port to publish transform from src to dst
    • unpublish_transform: closes a previously opened port to publish a
      transform
    • unpublish_all: closes a all previously opened ports to publish a transform
  • iPIDControl class pulled out from ControlBoardInterfaces yarpdev headers and
    put in separated files. Reimplemented without templates.
  • Gaze control: added sync equivalent to lookAt-like methods in order to wait
    for reply.
  • Added iRobotDescription interface.
  • Added two new motion control interfaces: IPWMControl, ICurrentControl and
    related helpers for units conversions.
  • Added IMap2D interface.
  • Added yarp::dev::MapGrid2D data type.
  • Added IHapticDevice interface.

YARP_math

  • Added methods:
    • yarp::sig::Vector dcm2ypr(const yarp::sig::Matrix&)
    • yarp::sig::Matrix ypr2dcm(const yarp::sig::Vector&)
  • Added template class Vec2d<>. can be only instantiated as int or double.
  • Added operator*(quaternion, quaternion) overload for quaternion multiplication
  • Added normalize method in the quaternion class

Tools

yarpidl_rosmsg

  • All generated classes now implement the clear() method.

GUIs

yarplaserscannergui

  • Accept --help argument.

yarpview

  • Added --autosize and checkbox to force yarpview to resize whenever a frame
    of a different size is received.
  • Implemented dragvector function on yarpview. Left-click on the image and keep
    left button pressed: yarpview starts to draw a line.
    When the left button is released, the coordinates of the initial and the final
    point are sent to the 'out' yarp port.

yarpmotorgui:

  • Create an instance of RobotDescriptionClient to automatically get the names
    of robot parts.
  • New button "idle all parts".
  • New button "execute script1/2".
  • yarpmotorgui now enforces the correct "go to home" behaviour:
    • home is asked to the robot, and, as a consequence, the "Home" button will
      apply the robot home position as specified by the Calibrator, see
      this comment in QA#108
    • added possibility to specified custom positions in the configuration file.
      These positions can be executed by newly introduced "Custom positions"
      submenus. Syntax is described in the yarpmotorgui documentation.
      #1160
  • Added CurrentPid tab in yarpmotorgui.
  • Added new control mode widgets to handle current and pwm control modes.

yarpmanager

  • Handle also wait states upon shutting down the modules of an application
    (#1051).
  • Added local and environment variable parsing (#885, #1031).
  • Added --add_current_dir option.

Carriers

Devices

  • Added new RobotDescriptionServer device to store devices info.
  • Added new RobotDescriptionClient device. User module can ask a list of
    registered devices using the iRobotDescription interface.
  • Added new device Map2DServer to store navigation maps.
  • Added new device Map2DClient. User module can perform operations on the
    stored maps using the iMap2D interface.
  • Added new SDLJoypad device.
  • Added new rpLidar2 device.
  • Added new fakeDepthCamera device.
  • Added new device ServerGrabber to handle one or two camera devices in
    function of the configuration.

AnalogWrapper

  • ROS param was changed from joint_names to jointNames like the
    controlBoardWrapper. The old name is deprecated.
  • Deprecated all the constructors except for the one without arguments.

controlboardwrapper

  • Reduced message size of of the stateExt:o port of nearly 30%.

TestFrameGrabber

  • The TestFrameGrabber was removed from libYARP_dev and it is now an optional
    plugin.

ovrheadset

  • Ported to the latest Oculus SDK. Compatibility with the old SDK was dropped.
    Supporting both the old and the new SDK is really not worth the effort.
    Therefore, since Linux and macOS are not supported by the latest SDK, only
    Windows is currently supported. If you need support on Linux or macOS you can
    checkout commit a05fec65e7bc67cceba5c59f26881e98590fccf7 from git history.
  • A few options (--multisample, --no-overdrive, --no-hqdistortion, and
    --no-timewarp) and the relative toggles were removed, since they can no
    longer be enabled/disabled from the SDK .
  • It can now display YARP logo in the bottom-right corner (disable with
    --no-logo from command line or toggle with [T] while running). This is
    useful to ensure that the device is working while waiting for the connection.
  • It can now display a crosshairs at the center of the scene (disable with
    --no-crosshairs from command line or toggle with [C] while running).
  • It can now be connected to a battery and display the status as an overlay
    at the top-right corner (disable with --no-battery from command line or
    toggle with [B] while running)

RemoteControlBoard

  • Dropped compatibility with ControlBoardWrapper2 devices that does not have
    the stateExt:o port.
    The state:o port in the wrapper is still available for encoder reading.
  • The protocol was changed and compatibility for devices using the old protocol
    was dropped.
  • added implementation of IPWMControl, ICurrentControl.
  • added control modes: VOCAB_CM_CURRENT, VOCAB_CM_PWM.
  • Added new values in the statExt : pwmDutycycle, current.
  • Removed deprecated value from statExt: PidOutput.

ServerFrameGrabber

  • ServerFrameGrabber now implements the interface yarp::dev::IRgbVisualParams
    for parsing rgb camera parameters.

TestFrameGrabber

  • Added new 'mode = size option to broadcast a simple video with variable
    frame size.
  • TestFrameGrabber now implements the interface yarp::dev::IRgbVisualParams
    for parsing rgb camera parameters.

RTF Plugins

  • The yarpmanager RTF Fixture Managers was imported from
    robotology/robot-testing, and allows one to start a fixture using yarpmanager.
    It can be enabled with the option YARP_COMPILE_RTF_ADDONS.
  • The yarpplugin RTF Fixture Managers was imported from robotology/icub-tests
    (Originally YarpPluginFixture), and allows one to check if a yarp plugin is
    available.
    It can be enabled with the option YARP_COMPILE_RTF_ADDONS.

Bindings

  • Add bindings for yarp/os/Log.h and yarp/os/LogStream.h.
    It allows the following:
import yarp
logger = yarp.Log()
logger.debug('See how cool this is')

Bug Fixes

Libraries

YARP_OS

  • Fixed mcast carrier without ACE.

YARP_dev

  • Fixed FrameTransformClient::getTransform() (#1184)
  • Fixed an on-closure segfault in FrameTransformClient (if running without the
    FrameTransformServer)
  • Added timeout check for ROS timed transforms in FrameTransformClient.
    Beware: we are currently using yarp time, not ros timestamps

Tools

yarprobotinterface

  • Print a warning when when parenthesis are not balanced and added protection
    against syntax errors (#832).
  • Added option all to attach to all yarprobotinterface devices (used by
    RobotDescriptionServer).

yarpidl_rosmsg

  • Fixed an issues when working with custom, nested ros messages.

GUIs

  • Replaced QT_DEVICE_PIXEL_RATIO with Qt::AA_EnableHighDpiScaling when
    supported by the installed Qt5 version. (#837, #1122, #1038, #1267)

yarpmotorgui

  • The number of parts is no longer hardcoded.
  • It is now possible to close the gui using CTRL+C.
  • Fixed issue preventing correct save operation of position sequences.

yarpmanager

  • Sub-folders are now automatically loaded by default.
  • Opening single application multiple times is no longer allowed (#1007).

Devices

laserFromDepth

  • Added horizontal flip to align angle direction.
  • Added distortion to simulate RGBD devices distance calculation method.

RGBDSensorWrapper

  • Fixed deadlock when closing device.
  • Fixed device failure not detected at startup.

imuBosch_BNO055

  • Fixed the sharing of data between the run() and read() methods.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v2.3.68..v2.3.70):

   344	Daniele E. Domenichelli <[email protected]>
   122	Nicolò Genesio <[email protected]>
    98	Marco Randazzo <[email protected]>
    74	Andrea Ruzzenenti <[email protected]>
    40	Alberto Cardellino <[email protected]>
    19	Silvio Traversaro <[email protected]>
    15	Ali Paikan <[email protected]>
    14	Francesco Romano <[email protected]>
    10	Bartek Łukawski <[email protected]>
     9	Claudio Fantacci <[email protected]>
     8	Matteo Brunettini <[email protected]>
     7	Ugo Pattacini <[email protected]>
     6	Diego Ferigo <[email protected]>
     5	Lorenzo Natale <[email protected]>
     5	Massimo Regoli <[email protected]>
     4	Andrea Ruzzenenti <Andrea Ruzzenenti>
     4	Juan G Victores <[email protected]>
     3	Aiko Dinale <[email protected]>
     3	Tobias Fischer <[email protected]>
     2	Andrea Ruzzenenti <andrea.ruzzenenti.iit.it>
     2	Bertrand Higy <[email protected]>
     2	Valentina Gaggero <[email protected]>
     1	Alessandro Scalzo <[email protected]>
     1	Giovanni Saponaro <[email protected]>
     1	Giulia Vezzani <[email protected]>
     1	Vítor Galvão <[email protected]>
     1	Zero King <[email protected]>
Assets 18
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