YARP 3.10.0 (XXXX-XX-XX)

Table of Contents

• YARP 3.10.0 Release Notes
  • Major Behaviour Changes
  • Deprecations and removals
  • Fixes
  • New Features
    • Docker
    • Carriers
    • Devices
      • controlboardremapper
      • deviceBundler
      • llmDevice
      • Navigation2D
      • Rangefinder2DTransformer
      • Rangefinder2D_nwc_yarp, Rangefinder2D_nws_yarp
      • ffmpeg_grabber
      • ffmpeg_writer
      • portaudio
      • FakePythonSpeechTranscription
      • multipleanalogsensorsclient
    • GUIs
      • yarpopencvdisplay
    • Libraries
      • <tt>lib_yarp_dev</tt>
      • <tt>lib_yarp_sig</tt>
    • Bindings
      • Python
  • Contributors

YARP 3.10.0 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found here.

Major Behaviour Changes

• ROS1 support removed from github repo https://github.com/robotology/yarp and moved to legacy repo https://github.com/robotology/yarp-ros
• Removed support for CMake 3.16/3.17. CMake minimum version is now 3.19

Deprecations and removals

• Removed xmlrpc and tcpros carriers.
• Removed yarpidl_rosmsg.
• Removed library libYARP_wire_rep_utils.
• Removed extern/md5
• Removed extern/ros messages and examples.
• The syntax yarpdev –device xxx –subdevice yyy has been deprecated. See discussion: https://github.com/robotology/yarp/discussions/3078

Fixes

• Configuration files installed by the yarp_configure_plugins_installation CMake macro are now relocatable (https://github.com/robotology/yarp/issues/2445, ).
• Improved ffmpeg port monitor to allow using different couples of coders/decodes
• yarpbatterygui now compatible with battery_nwc_yarp.
• Fixed compilation of portmonitor carrier when a custom non-system swig is used
• Fixed compatibility with ffmpeg 7 (https://github.com/robotology/yarp/pull/3109).
• Fixed compilation with graphviz 10 (https://github.com/robotology/yarp/pull/3115).
• Fix sending empty yarp::sig::Vector when building in Debug (https://github.com/robotology/yarp/pull/3123).

New Features

• Added new command line tool yarpDeviceParamParserGenerator. See official yarp documentation (cmd_yarpDeviceParamParserGenerator.dox)

Docker

• Added two parameters to yarp Dockerfile:
  • base_img to allow starting from different parent images
  • yarp_branch to set the yarp version the users might need in their image

Carriers

• Removed h264 Carrier
• Added gstreamer carrier with extended functionalities.
• Added new gstreamers plugins: yarpvideosource, yarpvidepassthrough, yarpvideosink
• Fixed segfault on disconnection with shmem carrier.

Devices

• Most yarp devices now use yarpDeviceParamParserGenerator to generate parameters documentation.

controlboardremapper

• Aligned to controlBoard_nws_yarp in terms of required interfaces. See https://github.com/robotology/yarp/pull/3095.

deviceBundler

• Added new device deviceBundler which can be useful to open two devices and attach them while using a single yarpdev command line. See https://github.com/robotology/yarp/discussions/3078

llmDevice

• Added LLM_Message data type to propagate LLM answers
• Added refreshConversation feature in the interface to allow users to restart the conversation mantaining the same prompt.

Navigation2D

• Added followPath functionality
• Added paths as possible arguments in gotoLocation in Navigation2D_nwc

Rangefinder2DTransformer

• Removed deprecated device Rangerfinder2DClient
• Added device Rangerfinder2DTransformer, with similar functionalities to Rangerfinder2DClient.

Rangefinder2D_nwc_yarp, Rangefinder2D_nws_yarp

• Network protocol now uses IDL thrift

ffmpeg_grabber

• Deprecated device

ffmpeg_writer

• Deprecated device

portaudio

• Portaudio device, previously marked as deprecated, has been definitely removed from devices' CMakeLists.txt

FakePythonSpeechTranscription

• Added new device FakePythonSpeechTranscription. The device is also an example which demonstrates the encapsulation of python code inside a c++ device implementing a Yarp interface.

multipleanalogsensorsclient

• Always establish the rpc connection with the tcp carrier, instead of using the carrier option as done in YARP <= 3.9 .

GUIs

yarpopencvdisplay

• added new executable yarpopencvdisplay. Similarly to yarpview, it's a basic window to display video streams. It also allows to save to .avi files.

Libraries

<tt>lib_yarp_dev</tt>

• Drivers.cpp If the user requests for a not existing plugin, the system now prints a message suggesting devices with similar names
• The following data types have been migrated from yarp_dev to yarp_sig library: AudioPlayerStatus, AudioRecorderStatus, AudioBufferSize, AudioBufferSizeData, LaserMeasurementData, LaserScan2D.

<tt>lib_yarp_sig</tt>

• Improvements to serialization class yarp::sig::Sound (breaking change)
• yarp_sig can now use IDL thrift to generate custom data types.
• The following data types have been migrated from yarp_dev to yarp_sig library: AudioPlayerStatus, AudioRecorderStatus, AudioBufferSize, AudioBufferSizeData, LaserMeasurementData, LaserScan2D.

Bindings

Python

• Fix loading of Python bindings on Windows when installed in arbitrary directory.

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.9.0..v3.10.0):

146  Marco Randazzo <marco.randazzo@iit.it>
 24  Silvio Traversaro <silvio.traversaro@iit.it>
 12  Nicolò Genesio <nicolo.genesio@iit.it>
 10  Stefano Dafarra <stefano.dafarra@iit.it>
  7  fbrand-new <francesco.brand@iit.it>
  3  robotology-bot (Tag Repository Action) <robotology@iit.it>
  2  Ettore Landini <ettore.landini@iit.it>
  1  Alessandro Croci <57228872+xela-95@users.noreply.github.com>
  1  Alessandro Croci <alessandro.croci@iit.it>
  1  Bartek Łukawski <PeterBowman@users.noreply.github.com>
  1  Bartek Łukawski <bwmn.peter@gmail.com>
  1  Giovanni Fregonese <giotherobot@gmail.com>
  1  elisabeth-ms <emenende@ing.uc3m.es>