Tutorials

Yarp Tutorials

Here are a collection of tutorials on various topics in YARP.

Using YARP and CMake in your projects:

• Compiling a YARP hello world program

Using YARP ports for communication:

• Getting Started with YARP Ports
• Port Power, Going Further with Ports
• Configuring YARP Connections
• Creating carriers for new kinds of connections
• Specialized RPC ports
• YARP without YARP
• Persistent connections
• The administrative interface to YARP ports
• YARP port authentication
• Using YARP without a name server
• yarp_with_ros
• YARP ports from your browser
• Using IDLs in Yarp (and also ROS)

Make sure you understand how to control YARP buffering policies the life-cycle of messages:

• Buffering Policies in YARP

How to write a standard module, search and install configuration files:

• ResourceFinder Tutorials and Specification
• The RFModule Class

Using the Thrift IDL to define data types and interfaces:

• Thrift IDL in YARP: writing a portable
• Thrift IDL in YARP: simple tutorial
• Thrift IDL in YARP: advanced tutorial
• Thrift IDL in YARP: editing structures remotely

Using YARP devices:

• Getting Started with YARP Devices
• yarpdev: the standard YARP device utility
• The YARP motor control interfaces
• Device invocation examples
• Add a plugin to YARP (older method: How to add a device to YARP)
• YARP config files

More software tutorials:

• YARP PointCloud
• Some examples
• Using CMake
• Gstreamer carrier

Communication protocol details:

• Port and connection protocols
• Standard data representation format
• The name server protocol

YARP implementation:

• Extending Yarp: A trip through the guts of YARP
• Yarp plugins for gstreamer

Yarp GUIs/Apps Tutorials

• yarpdataplayer example application
• yarpdataplayer recording example