YARP 3.9.0 (2023-11-21)

Table of Contents

• YARP 3.9.0 Release Notes
  • Major Behaviour Changes
  • Deprecations and removals
  • Fixes
  • New Features
    • Docker
    • GUIs
      • yarpaudiocontrolgui
      • yarpllmgui
    • Libraries
      • libYARP_sig
      • libYARP_companion
      • libYARP_dev
    • Devices
      • frameTransformStorage + frameTransformClient + frameTransformServer
      • chatBot
      • speechSynthesizer
      • speechTranscription
  • Contributors

YARP 3.9.0 Release Notes

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

Major Behaviour Changes

• Yarp now supports C++20 standard.
• Catch2 library updated to version: 3.4.0
• YCM library updated to 0.15.3

Deprecations and removals

• Removed yarp companion command TopicTest.
• Removed unnecessary rosmsg dependencies in yarpdataplayer.
• Removed UNMAINTAINED executable yarpfs.
• Removed UNMAINTAINED library libyarpc.
• Removed deprecated device controlboardwrapper2.

Fixes

• General improvement to yarp github CI to support Ubuntu22.04+clang17, Windows2022+VS17
• Fixed segfault in audioRecorderDeviceBase device.
• Added missing doxygen tags to several interfaces and devices.
• Fixed segfault when reading a mono .wav file from disk in SoundFileWav.cpp.
• Fixed stdin in yarprun --cmd <cmd> --stdio.
• Removed robot and iCubGui inertial ports from the example app as the GUI is unable to handle the MAS client.
• Fix bug that forces images to be sent through RPC calls in frameGrabber_nwc_yarp.
• The error message upon inconsistent encoder timestamps has been throttled in controlBoard_nws_yarp.
• Fixed issue regarding windows/linux timestamps synchronization: yarp::os::SystemClock::nowSystem() now maps to std::chrono::system_clock instead of std::chrono::high_resolution_clock

New Features

Docker

Added new experimental docker image for Ubuntu22.04 http://github.com/robotology/yarp/docker

GUIs

yarpaudiocontrolgui

Added new gui yarpaudiocontrolgui to start/stop an audioRecorder_nwc_yarp or an audioPlayer_nwc_yarp device.

yarpllmgui

Added new gui yarpllmgui to control IChatbot devices.

Libraries

libYARP_sig

• The class yarp::sig::sound has refactored to avoid the internal use (private implementation) of yarp::sig::Image data type.

libYARP_companion

• Added companion command yarp split. The command splits an heterogeneous nested bottle received from a port into multiple ports.

libYARP_dev

• Added new interface: IJointCoupling, an interface for handling coupled joints.
• Added new interfaces: ISpeechSynthesizer, ISpeechTranscription.
• Added new interface: IChatBot to interact with chatbots.
• The interface ITorqueControl now supports four a new friction parameters: velocityThresh. These parameters are used to enable the new torque control law and fine tune the the friction compensation at FW level.

Devices

frameTransformStorage + frameTransformClient + frameTransformServer

• Added a timeout related parameter (FrameTransform_container_timeout) to change the refresh interval for old timed frame transforms.
• The parameter has also been added to the frameTransformClient and frameTransformServer configuration files. The extern-name for this parameter is: ftc_storage_timeout for frameTransformClient files; fts_storage_timeout for frameTransformServer files

chatBot

• Added nwc device chatBot_nwc_yarp for the IChatBot interface and the corresponding test
• Added nws device chatBot_nws_yarp
• Added fake device fakeChatBotDevice

speechSynthesizer

• Added nwc device speechSynthesizer_nwc_yarp for the ISpeechSynthesizer interface and the corresponding test
• Added nws device speechSynthesizer_nws_yarp
• Added fake device fakeSpeechSynthesizer

speechTranscription

• Added nwc device speechTranscription_nwc_yarp for the ISpeechTranscription interface and the corresponding test
• Added nws device speechTranscription_nws_yarp
• Added fake device fakeSpeechTranscription

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.8.0..v3.9.0):

127  Marco Randazzo <marco.randazzo@iit.it>
 37  Ettore Landini <ettore.landini@iit.it>
 14  Nicolò Genesio <nicolo.genesio@iit.it>
 14  fbrand-new <francesco.brand@iit.it>
  7  Silvio Traversaro <silvio.traversaro@iit.it>
  6  Arren Glover <arren.glover@iit.it>
  4  robotology-bot (Tag Repository Action) <robotology@iit.it>
  3  Bartek Łukawski <bwmn.peter@gmail.com>
  2  Davide <davidegorbani@gmail.com>
  2  Ugo Pattacini <ugo.pattacini@iit.it>
  1  Davide Gorbani <101326942+davidegorbani@users.noreply.github.com>
  1  Marco Randazzo <marco.randazzo@.iit.it>
  1  Simone <simone.girardi@iit.it>
  1  Simone Girardi <simone.girardi@iit.it>
  1  Stefano Dafarra <stefano.dafarra@iit.it>