YARP  2.3.72
Yet Another Robot Platform
Using YARP without a name server
Paul Fitzpatrick

YARP programs usually expect a special YARP name server to be running. This can be avoided, if you decide to allocate names yourself. If you call a port by a name with a tcp socket number in it:

Port p;

Then no name server is needed (from YARP version 2.3.4).