The yarprobotinterface is a command line tool that is useful to launch multiple YARP devices at once.
Its name derives from the fact that the first and main use of the yarprobotinterface was used as the main program to provide a network "interface", via YARP Network Server Wrappers (NWS) devices, to a robot.
However, the yarprobotinterface can be used to launch YARP devices of any kind. In a sense, it is an extension of the yarpdev command, that instead can be used only to launch one or two devices, while yarprobotinterface can launch an arbitrary number of YARP devices.
The details of the xml format of the files loaded by yarprobotinterface are documented in YARP robotinterface XML files .
--config ./configdir/config.xml
.xml
file to load and that describes the YARP devices to launch.--portprefix portprefix
--verbose
--dryrun
--enable_tags (xxx yyy ... zzz)
enabled_by
attribute in the xml file. See YARP robotinterface XML files--disable_tags (xxx yyy ... zzz)
disabled_by
attribute in the xml file. See YARP robotinterface XML filesyarprobotinterface loads the xml file from the location specified in the --config
option.