YARP  2.3.68+283-20170530.4+git10f9853
Yet Another Robot Platform

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

  • YARP_gsl was removed from the YARP_LIBRARIES CMake variable where it was erroneously added. If you are using that library you might need to add YARP::YARP_gsl to the list of libraries linked by your target.
  • The CREATE_SHARED_LIBRARY option is deprecated in favour of the standard BUILD_SHARED_LIBS.
  • Plugins are now added to FeatureSummary if available.
  • Fixed symbol visibility logic. Not exported symbols are now always hidden. The YARP_EXPERIMENTAL_FILTER_API option can be used to hide also symbols from the impl libraries (it will not build at the moment).


  • Spelling of the length-related parameters was fixed. You might have to fix your configuration files.
  • Builds from git repositories will now contain the git commit and dirty state in the version number (For example 2.3.68+98-20161222.4+git3942468+dirty (2.3.68+98)). YARP_VERSION_MAJOR, YARP_VERSION_MINOR, YARP_VERSION_PATCH and YARP_VERSION_TWEAK meanings hasn't changed. YARP_VERSION_STRING was removed since it was never used.
  • Added new laserFromDepth device.
  • Fixed YARP_CLEAN_API build with GCC 6.1 or later (that uses c++14 by default) by forcing -std=c++98 (#978).
  • Fixed YARP_EXPERIMENTAL_CXX11 on MSVC 12 2013.
  • The YARP_ABORT_ON_WARNING and YARP_FATAL_ERRORS options were restored.
  • Added workaround for FindCUDA bug when crosscompiling. See https://gitlab.kitware.com/cmake/cmake/issues/16509.
  • Fixed issues in yarp_add_idl command when generating files using paths containing ..
  • Fixed issues in yarp_idl_to_dir command when generating files on paths containing white spaces.




  • Added warning when loading a plugin with a wrong library parameter (#975).
  • Fixed the comunication of mirroring and intrinsic parameter through sender and parser in IVisualParamsImpl.
  • Fixed ControlBoardRemapper not returning an error on malformed axesNames.
  • IControlLimits2Raw now inherits publicly from IControlLimitsRaw.
  • Fixed missing include of yarp/dev/api.h in IEncoders.h (#1127)
  • Fixed missing include of yarp/os/Vocab.h in IControlMode.h (#1199)
  • Fixed FrameTransformClient::waitForTransform() (#1183)
  • Fixed memory leak in ControlBoardWrapper.
  • Fixed memory leak in Rangefinder2DClient.


  • Fix resizing of output matrices in SVD (#1062, #1066).


  • Fixed typo in setEnvironemnt, now setEnvironment


  • Devices are now closed in the reverse order as they are created.


  • Fixed an out-of-bounds error if an array contained in a ros message has size ==0
  • Fixed segfault when publishing a ros message including a null vector


  • Fixed memory leak.


  • Remove extra ';' from enviornment variables and port prefix (#980, #982).
  • Fix saveAs action(#755).
  • Add warning in case of creation of a new file(application) that already exists.
  • Fix double tab open of the same application.
  • Add key shortcuts for the actions.
  • Remove automatically applications, modules and resources that no longer exist on disk. when double click on them or click edit .
  • Fix the addition to the tree of multiple applications pointing to the same xml file.


  • Fixed close button not closing the gui (#720).
  • Fixed laser orientation to have x axis pointing towards N and y axis towards W (as in ROS)


  • Fixed memory leak in closing.
  • Fixed issue in tcpros carrier causing a severe slowdown of yarp::os::Publisher when multiple ros clients are connected to the same topic.
  • Fixed rangeFinder2DClient and getLaserMeasurement() function of various hardware devices: laser_angle_of_view was not computed correctly.
  • Fixed bugs in AnalogWrapper: start() return value is checked (important for avoiding address conflict), all the ports needed are opened only once and not multiple times, fixed memory leaks.


  • Fixed error in open function.
  • Better param check.


  • Added missing distortion model params.
  • Implemented camInfo messages for ros interoperation.
  • Fixed parsing file error.
  • Cleanup and improved documentation.
  • Fixed segmentation fault on device shutdown.
  • Fixed segmentation fault when passing an incorrect configuration.
  • Fixed resolution from config.


  • Improved fakeLaser test to display x and y axis


  • Added internal subdevice spawn and attach.
  • Fixed parameter name in error message.


  • Allow to set negative max_angle & min_angle, allowing a virtual rotation of the sensor zero (#1019).
  • RPATH is now correctly set for python bindings.

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..v2.3.68.1):