yarprobotinterface: Start multiple YARP devices as specified in an xml file.

Collaboration diagram for yarprobotinterface: Start multiple YARP devices as specified in an xml file.:

Description

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 .

Parameters

--config ./configdir/config.xml

• Specify the path of the .xml file to load and that describes the YARP devices to launch.

--portprefix portprefix

• If specified, this values override the portprefix attribute of the robot element of the xml file.

--verbose

• If this option is specified, enable verbose output of the xml parser.

--dryrun

• If this option is specified, then xml file is only loaded without actually opening devices. This option is useful to validate if xml files are well formed.

--enable_tags (xxx yyy ... zzz)

• This options can be used to enable optional devices which have been marked with the in enabled_by attribute in the xml file. See YARP robotinterface XML files

--disable_tags (xxx yyy ... zzz)

• This options can be used to disable included devices which have been marked with the in disabled_by attribute in the xml file. See YARP robotinterface XML files

Configuration Files

yarprobotinterface loads the xml file from the location specified in the --config option.