Yet Another Robot Platform
The RFModule Class

Table of Contents

In this tutorial we show more details of how to write a YARP module using the module helper class.


The RFModule helper class simplify writing a generic module. It provides support for:

  • Perform periodic activities
  • Handle signals, catch termination and perform smooth shutdown
  • Parses messages from a port to monitor module activity and set/get parameters
  • Use the ResourceFinder class to handle parameters

You do not need to understand the details of yarp::os::ResourceFinder to proceed with this tutorial. However it may be useful: ResourceFinder Tutorials and Specification.


This is how a module will look like:

lineno} rfmodule/main.cpp

See code in: examples/rfmodule/main.cpp