Yet Another Robot Platform
YARP 3.4.2 (2021-01-19)

YARP 3.4.2 Release Notes

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

Bug Fixes

Build System

  • YCM is now searched when compiling bindings externally.
  • Fixed dependency on YARP_math for several devices (laserFromExternalPort, laserFromPointCloud, laserFromRosTopic).
  • rpLidar2 device is now disabled when building with Clang.
  • Fixed upowerBattery device in static builds.
  • Fixed include directories for PortAudio on Windows (#2387).
  • Fixed toggling the value of SKIP_ACE from ON to OFF
  • Dependencies for the INTERFACE libraries (YARP_cv, YARP_pcl) are now properly set (#2438).
  • PCL is now required to build the YARP_pcl library.
  • OpenCV is now required to build the YARP_cv library.



  • Log components are now printed in colors when YARP_COLORED_OUTPUT is enabled.


  • Fix checkNetwork timeout variant not working as checkNetwork when NetworkBase::setLocalMode(true) is called.—


  • Fixed logging of RGBA values via toString() for types DataRGBA, DataXYZRGBA and DataXYZNormalRGBA.

  • Fixed ROI bug in depthToPC(), values are now correctly clipped.



  • Fixed access to the timestamp not protected by mutex (#2396).
  • Deprecated old format of networks keyword in the XML files to favor the use of parentheses.


  • Corrected a minor error in FfmpegGrabber.cpp that caused a segmentation fault when using a video with audio track as a source for the device.


  • Avoid dereferencing nullptr on optional argument.



  • Fixed UI file (slider options). Some text was truncated.


  • Fixed gui buttons when the value of max linear/angular velocity is < 0



  • Added a new menu voice View-> Render options. This checkable option labbelled Background grid allows to enable/disable the background grid.
  • Labels are now fully readable regardless of their length.


  • The window can no longer be resized.
  • The window background can no longer be moved around.
  • The window no longer stays on top automatically. A new --keep-above switch is provided to restore this behavior.


This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.4.1..v3.4.2):

66 Daniele E. Domenichelli <daniele.domenichelli@iit.it>
5 Bartek Ɓukawski <bwmn.peter@gmail.com>
3 Ettore Landini <ettore.landini@iit.it>
3 Silvio Traversaro <silvio.traversaro@iit.it>
3 Ugo Pattacini <ugo.pattacini@iit.it>
2 Marco Randazzo <marco.randazzo@iit.it>