YARP
Yet Another Robot Platform
Network Servers (Wrappers)

These devices take implementations of existing interfaces and wrap them up to work across the network. More...

+ Collaboration diagram for Network Servers (Wrappers):

Detailed Description

These devices take implementations of existing interfaces and wrap them up to work across the network.

Classes

class  ControlBoardWrapper
 
class  Map2DServer
 
class  GenericSensorRosPublisher< ROS_MSG >
 This abstract template needs to be specialized in a ROS Publisher, for a specific ROS mesagge/sensor type. More...
 
class  IMURosPublisher
 This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Imu. More...
 
class  MagneticFieldRosPublisher
 This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::MagneticField. More...
 
class  PoseStampedRosPublisher
 This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::PoseStamped. More...
 
class  TemperatureRosPublisher
 This wrapper connects to a device and publishes a ROS topic of type sensor_msgs::Temperature. More...
 
class  WrenchStampedRosPublisher
 This wrapper connects to a device and publishes a ROS topic of type geometry_msgs::WrenchStamped. More...
 
class  MultipleAnalogSensorsServer
 The server side of the MultipleAnalogSensorsClient, useful to expose device implementing MultipleAnalogSensors interfaces over the YARP network. More...
 
class  RGBDSensorWrapper
 
class  RobotDescriptionServer
 
class  ServerFrameGrabber
 
class  ServerGrabber
 
class  ServerInertial
 
class  ServerSerial
 
class  ServerSoundGrabber
 
class  VirtualAnalogWrapper
 

Macros

#define DEFAULT_THREAD_PERIOD   0.02
 Device that expose a battery sensor (using the IBattery interface) on the YARP network. More...
 

Macro Definition Documentation

◆ DEFAULT_THREAD_PERIOD

#define DEFAULT_THREAD_PERIOD   0.02

Device that expose a battery sensor (using the IBattery interface) on the YARP network.

Description of input parameters

It reads the data from a battery sensor and sends them on a port, acting as a streaming server for a batteryClient device. It creates one rpc port and its related handler for every output port.

Parameters required by this device are:

Parameter name SubParameter Type Units Default Value Required Description Notes
name - string - - Yes prefix of the ports opened by the device, e.g. /robotName/battery1 MUST start with a '/' character. /data:o and /rpc:i is automatically appended by the wrapper at the end
period - double s 1.0 No refresh period of the broadcasted values in seconds optional, default 1.0s
subdevice - string - - No name of the subdevice to instantiate when used, parameters for the subdevice must be provided as well
enable_shutdown - bool - false No if enabled, batteryWrapper will start a system shutdown when charge is below 5% -
enable_log - bool - false No if enabled, stores a log of battery usage on disk data stored on file batteryLog.txt
quitPortName - string - - No name of port used to terminate the execution of yarpRobotInterface used only if enable_shutdown=true

Some example of configuration files:

Configuration file using .ini format, using subdevice keyword.

device batteryWrapper
subdevice fakeBattery
name /myBatterySensor
** parameter for 'fakeBattery' subdevice follows here **
...

Configuration file using .xml format.

<device name="battery1" type="batteryWrapper">
<param name="period"> 20 </param>
<param name="name"> /myBatterySensor </param>
<action phase="startup" level="5" type="attach">
<paramlist name="networks">
<elem name="my_battery"> my_battery </elem>
</paramlist>
</action>
<action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 100 of file BatteryWrapper.h.