🚀 YARP 3.4.0 Released #424

drdanz · 2020-07-31T12:34:14Z

drdanz
Jul 31, 2020

YARP 3.4.0 was released today and is now available for download at: https://github.com/robotology/yarp/releases/.

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

Important Changes

YCM 0.11 or later is now a hard
dependency and must be installed on the system before installing YARP.
Python 2 is no longer supported.

Deprecation and Behaviour Changes

The scripts/WindowsPowerShell files are now in data/WindowsPowerShell.
The scripts/yarp_completion file is now in data/bash-completion/yarp.

Build System

`yarp_prepare_plugin`

INCLUDE must now be an existing file, either using a path relative to
current directory, or an absolute path. Using a path relative to one of the
include directories is deprecated.

os

The method yarp::os::getenv() is deprecated in favour of std::getenv()

`yarp::os::ConnectionState`

The yarp::os::ConnectionState::getLog() method was removed without
deprecation, due to the changes to the logging system, that made it impossible
to preserve this method.

`yarp::os::NetworkBase`

The yarp::os::NetworkBase::setVerbosity method is deprecated in favor of Log
Components.
The yarp::os::NetworkBase::getEnvironment() method is deprecated in favour
of yarp::conf::environment::getEnvironment()
The yarp::os::NetworkBase::setEnvironment() method is deprecated in favour
of yarp::conf::environment::setEnvironment()
The yarp::os::NetworkBase::unsetEnvironment() method is deprecated in favour
of yarp::conf::environment::unsetEnvironment()

`yarp::os::Port`

The yarp::os::Port::setVerbosity method is deprecated in favour of Log
Components.
The yarp::os::Port::getVerbosity method is deprecated in favour of Log
Components.

`yarp::os::ResourceFinder`

The yarp::os::ResourceFinder::setVerbose() method is deprecated in favour of
Log Components.
The yarp::os::ResourceFinder::setQuiet() method is deprecated in favour of
Log Components.

`yarp::os::YarpPluginSettings`

The yarp::os::YarpPluginSettings::setVerboseMode() method is deprecated in
favour of Log Components.

`yarp::os::Log`

The yarp::os::Log::setLogCallback() method is deprecated in favour of
setPrintCallback()

dev

The following classes were moved from the yarp::dev namespace to the
yarp::dev::Nav2D namespace
- yarp::dev::Nav2D::Map2DArea
- yarp::dev::Nav2D::Map2DPath
- yarp::dev::Nav2D::Map2DLocation
- yarp::dev::Nav2D::MapGrid2D
- yarp::dev::Nav2D::MapGrid2DInfo
yarp::dev::Nav2D::Map2DPath is now replacing std::vector<yarp::dev::Nav2D::Map2DLocation> in all
APIs.
The following functions have been moved from yarp::dev::Nav2D::MapGrid2D
into yarp::dev::Nav2D::MapGrid2DInfo:
- yarp::dev::Nav2D::XYWorld yarp::dev::Nav2D::MapGrid2DInfo::cell2World(yarp::dev::Nav2D::XYCell cell) const;
- yarp::dev::Nav2D::Map2DLocation yarp::dev::Nav2D::MapGrid2DInfo::toLocation(yarp::dev::Nav2D::XYCell cell) const;
- yarp::dev::Nav2D::XYCell yarp::dev::Nav2D::MapGrid2DInfo::toXYCell(yarp::dev::Nav2D::Nav2D::Map2DLocation loc) const;
- yarp::dev::Nav2D::XYCell yarp::dev::Nav2D::MapGrid2DInfo::world2Cell(yarp::dev::Nav2D::XYWorld world) const;
- yarp::dev::Nav2D::Nav2D::Map2DLocation yarp::dev::Nav2D::MapGrid2DInfo::toLocation(yarp::dev::Nav2D::XYWorld cell) const;
- yarp::dev::Nav2D::XYWorld yarp::dev::Nav2D::MapGrid2DInfo::toXYWorld(yarp::dev::Nav2D::Map2DLocation loc) const;
modified signature of the yarp::dev::Nav2D::INavigation2D::getAllNavigationWaypoints method.
The format of .map file loaded by yarp::dev::Nav2D::MapGrid2D has been
changed. It can now include the parameters resolution <double> and
orientation <bottle> to adjust the map reference frame.

Devices

The test_grabber device was renamed fakeFrameGrabber.
The old name is kept for compatibility, but it will be deprecated and removed
in a future release.
The test_motor was renamed fakeMotor.
The old name is kept for compatibility, but it will be deprecated and removed
in a future release.

Tools

`yarp`

The regression subcommand was removed.

New Features

Build System

The bash-completion file is now installed automatically (#1101).
It is now possible to build some of the examples in the main build using the
YARP_COMPILE_EXAMPLES CMake Option
It is now possible to build some of the YARP examples as test using the
YARP_ENABLE_EXAMPLES_AS_TESTS CMake Option

`yarp_add_idl`

It's now possible to pass options to the commands using CMake variables (for
example YARP_ADD_IDL_THRIFT_INCLUDE_PREFIX and
YARP_ADD_IDL_THRIFT_NO_NAMESPACE_PREFIX.

`yarp_prepare_plugin`

Including current directory (either explicitly, or using
CMAKE_INCLUDE_CURRENT_DIR) is no longer required by the generated files.

Libraries

conf

Added yarp::conf::clamp. Will be replaced by std::clamp as soon as c++17
is required in YARP.
Added the yarp/conf/environment.h header.
Added the following functions:
- yarp::conf::environment::getEnvironment()
- yarp::conf::environment::setEnvironment()
- yarp::conf::environment::unsetEnvironment()

os

Add yarp::os::gethostname() overload to return a std::string

`yarp::os::NetworkBase`

Added bool yarp::os::NetworkBase::isNetworkInitialized() method.

`yarp::os::NetType`

The following methods were added:
- static std::string yarp::os::NetType::toString(yarp::conf::float32_t)
- static std::string yarp::os::NetType::toString(yarp::conf::float64_t)
- static yarp::conf::float32_t yarp::os::NetType::toFloat32(const std::string&)
- static yarp::conf::float64_t yarp::os::NetType::toFloat64(const std::string&)
- static yarp::conf::float32_t yarp::os::NetType::toFloat32(std::string&&)
- static yarp::conf::float64_t yarp::os::NetType::toFloat64(std::string&&)
- static std::string yarp::os::NetType::toHexString(long)
- static std::string yarp::os::NetType::toHexString(unsigned int)

`yarp::os::Time`

Added bool yarp::os::Time::isClockInitialized() method.

`yarp::os::Log`

The yarp logging system was heavily refactored, please check out the
[documentation](\ref yarp_logging).
The name of the port used to forward the output no longer contains the full
path, but only the executable name.
Added yarp::os::LogComponent to define log components:
- A log component can be declared using the YARP_LOG_COMPONENT() macro (in
  a .cpp file) and eventually forward declared using
  YARP_DECLARE_LOG_COMPONENT().
- It is possible to set custom printing and forwarding macros for each
  component, and it is possible to enable and disable specific levels for each
  component.
- At the moment it is not yet possible to change the defaults set in the code,
  but this will be enabled in the future.
The output forwarded is now a property and contains several useful
information including component and system/network time, file, line,
function.
The logger is now able to detect if it is running in yarprun and
eventually change the output format.
Logging is now protected by a mutex to avoid garbled output.
The YARP_DEBUG_LOG_ENABLE environment variable can be set to debug
the log of the application.
When color is enabled, the loglevel can be represented by a single colored
character by setting the YARP_COMPACT_OUTPUT environment variable to 1.
The limit of 1024 characters for the c-style yDebug() macro family was
removed. A dynamic allocation is now used, but only when the size of the
output exceeds this size.
Trace should no longer generate code when building in release mode.
When building with -DYARP_NO_DEBUG_OUTPUT debug should not generate any code
as well. See https://godbolt.org/z/hSAC56
Added the yCDebug macro family to pass a component to the logger (This
macro is also available for all log levels, and assert).
Added the following new debug macro families limiting the log output (all
these macros are available for all log levels, except for [FATAL], and in
the component version):
- yDebugOnce(): Printed only once in the execution of the program.
- yDebugThreadOnce(): Printed at most once by every thread during the
  execution of the program.
- yDebugThrottle(): Printed at most once every period seconds.
- yDebugThreadThrottle(): Printed at most once by every thread every period
  seconds.
Added the yDebugExternalTime() macro family to pass a timestamp generated by
an external source (This macros is also available for all log levels, in the
component version, and in the limited version):

`yarp::os::ManagedBytes`

Added move semantics.

`yarp::os::Portable`

The first argument of yarp::os::Portable::copyPortable() is now const.
The new signature is:

  bool yarp::os::Portable::copyPortable(const PortWriter& writer, PortReader& reader)

`yarp::os::Port`

It's now possible to try to fix any issues by entrusting a Superior Entity.

sig

`yarp::sig::ImageOf`

Added support to load a PNG file into a yarp::sig::ImageOf<yarp::sig::PixelRgb>

`yarp::sig::VectorOf`

Added const_iterator yarp::sig::VectorOf::begin() const and
const_iterator yarp::sig::VectorOf::end() const in yarp::sig::VectorOf
class.
Added move semantics.

math

Added yarp::math::Vec2D<size_t> datatype.

dev

Added yarp::dev::LaserScan2D datatype.
Added yarp::dev::MobileBaseVelocity datatype.
Added yarp::dev::OdometryData datatype.
Added yarp::dev::OdometryData6D datatype.
Added yarp::dev::IPositionSensors interface.
Added yarp::dev::Lidar2DDeviceBase class to use as a base class for all lidar devices.
Added yarp::dev::Nav2D::TrajectoryTypeEnum
Added the following methods to yarp::dev::Nav2D::ILocalization2D interface
- yarp::dev::Nav2D::ILocalization2D::startLocalizationService();
- yarp::dev::Nav2D::ILocalization2D::stopLocalizationService();
- yarp::dev::Nav2D::ILocalization2D::getCurrentPosition(yarp::dev::Nav2D::Map2DLocation& loc, yarp::sig::Matrix& cov);
- yarp::dev::Nav2D::ILocalization2D::setInitialPose(const yarp::dev::Nav2D::Map2DLocation& loc, const yarp::sig::Matrix& cov);
Added new class yarp::dev::Nav2D::MapGrid2DInfo which contains infos about
the name, the resolution and the origin of the map (e.g.
yarp::dev::Nav2D::MapGrid2DOrigin) etc.
Added new path-related methods to yarp::dev::Nav2D::IMap2D interface:
- virtual bool yarp::dev::Nav2D::IMap2D::storePath(std::string path_name, Nav2D::Map2DPath path) = 0;
- virtual bool yarp::dev::Nav2D::IMap2D::getPath(std::string path_name, Nav2D::Map2DPath& path) = 0;
- virtual bool yarp::dev::Nav2D::IMap2D::getPathsList(std::vector<std::string>& paths) = 0;
- virtual bool yarp::dev::Nav2D::IMap2D::deletePath(std::string path_name) = 0;
- virtual bool yarp::dev::Nav2D::IMap2D::renamePath(std::string original_name, std::string new_name) = 0;
- virtual bool yarp::dev::Nav2D::IMap2D::clearAllPaths() = 0;
Added method yarp::dev::Nav2D::ILocalization2D::getEstimatedOdometry() to
the interface yarp::dev::Nav2D::ILocalization2D.
yarp::dev::Nav2D::MapGrid2DOrigin can now handle a generic orientation.
Previously only the translational part was handled by methods world2Cell and
cell2World
The terminator port now tries to use the default value for --name accepted
by the device.
For example yarpdev --device fakeFrameGrabber will open the port
/grabber/quit instead of /fakeFrameGrabber/quit.

logger

Interpret the new message format containing extra info.

Carriers

Added depthimage2 portmonitor to transform a depth image
(VOCAB_PIXEL_FLOAT format) into a rgb image, using a precomputed colormap.
Added segmentationimage portmonitor to transform a segmentation image
(VOCAB_PIXEL_MONO or VOCAB_PIXEL_MONO16) into a rgb image, using a
precomputed colormap.

Devices

Added laserFromExternalPort device, which is able to receive a LaserScan2D
datatype from a YARP port, and expose it as a device driver through the
IRangefinder2D interface.
Added laserFromPointCloud device, which receives a depth stream through an
IRGBDSensor sensor a produces a laser compatible stream of data from the
computed point cloud.
Added IMURosPublisher device. This wrapper connects to a device and
publishes a ROS topic of type sensor_msgs::Imu.
Added MagneticFieldRosPublisher device. This wrapper connects to a device and
publishes a ROS topic of type sensor_msgs::MagneticField.
Added PoseStampedRosPublisher device. This wrapper connects to a device and
publishes a ROS topic of type geometry_msgs::PoseStamped.
Added TemperatureRosPublisher device. This wrapper connects to a device and
publishes a ROS topic of type sensor_msgs::Temperature.
Added WrenchStampedRosPublisher device. This wrapper connects to a device and
publishes a ROS topic of type geometry_msgs::WrenchStamped.
Added upowerBattery device to view the battery
of a linux laptop in YARP using the yarp::dev::IBattery interface.

`fakeBattery`

Added a new port <name>/control/rpc:i to retrieve and change the values
reported by the fake battery.
The battery is now charged or discharged depending on the sign of the current.
The default values for voltage and current are now more realistic.
It is now possible to change the starting values as device options.

`fakeLaser`

Added --use_constant option.
The device is now derived from yarp::dev::Lidar2DDeviceBase

`laserFromDepth`

The device is now derived from yarp::dev::Lidar2DDeviceBase

`Localization2DServer`

Added missing ROS initialization. It will now publish odometry data on ROS
topic.

`multipleAnalogSensorsMsgs`

multipleAnalogSensorsSerializations.thrift have been extended to handle
position sensors.

`multipleanalogsensorsserver`

Added handlers for yarp::dev::IPositionSensors interface.
Added support for wrapped subdevices, i.e. those explicitly instantiated via
--subdevice option on initial device configuration. (#2154)

`multipleanalogsensorsclient`

Added handlers for yarp::dev::IPositionSensors interface.

`multipleanalogsensorsremapper`

Added handlers for yarp::dev::IPositionSensors interface.
Update MAS_NrOfSensorTypes. This avoids segfaults due to uninitialized
yarp::dev::IPositionSensors interfaces.

`ovrheadset`

Port to the new rendering API and make it focus aware (SDK 1.19 is required).
Add P command to print current settings.

`Rangefinder2DClient`

Rangefinder2DClient now use yarp::dev::LaserScan2D datatype.

`Rangefinder2DWrapper`

Rangefinder2DWrapper now use yarp::dev::LaserScan2D datatype.

`rpLidar2`

The device is now derived from yarp::dev::Lidar2DDeviceBase

`transformClient`

Added support for identical frame transforms.

`transformServer`

Cleanup of --USER_TF option.

Tools

`yarp`

The --help, -h and --version arguments are now accepted.
Added the priority-qos subcommand that allows to set/get the packet priority
value of both the source and the destination port.
Added the priority-sched subcommand that allows to set/get the thread
priority and policy values of both the source and the destination port.
Added the env subcommand to print one or the full list of environment
variables.
The qos subcommand is accepted as an alias to priority-qos.
The sched subcommand is accepted as an alias to priority-sched.
When logic fails, it's time to yarp pray. Watch out for palindrome mode.

`yarprun`

The name of the port used to forward the output no longer contains the full
path, but only the executable name.
The following enviromnent variables are now set in the child processes:
- YARP_IS_YARPRUN is set to 1 for all child processes
- YARPRUN_IS_FORWARDING_LOG is set to 1 when yarprun is forwarding the
  log and to 0 otherwise

GUIs

Added new yarpmobilebasegui GUI which allows the user to control the
mobile base of the robot via keyboard or mouse and sends
yarp::dev::MobileBaseVelocity commands on a yarp port.

`yarpmanager`

Moved the builder, from the hidden place to a tab in the application view.

`yarplaserscannergui`

Multiple instances are now allowed with --local option.
Added --debug option.

`yarpdataplayer`

It's now possible to reproduce several ROS types, i.e.
- sensor_msgs/LaserScan
- nav_msgs/Odometry
- tf/tfMessage
- tf2_msgs/tfMessage
- geometry_msgs/Pose
- geometry_msgs/Pose2D
Added getSliderPercentage method to the rpc port.
This method returns the progress percentage of the seek bar while playing a
dataset. (#2148)

`yarpview`

Added a checkable menu item that, if checked, shows an additional line in the
status bar that displays the color value of the pixel pointed by the mouse
cursor.
The string has the following format
```
Pixel("x","y") = "hexstring"
```
Where x and y are the coordinates of the pixel and hexstring is the
hexadecimal (in the ARGB format) string representing the pixel color.
The additional line on the status bar contains also a little rectangle that
will turn the same color of the currently selected pixel.

`yarplogger`

The new info from yarp log (component, time, etc.) are now displayed (the
columns that are not shown by default can be enabled from the Options menu).
Cleaned up interface, removed status bar and improved colors.

Bindings

Several previously inaccessible methods from motor interfaces are now
correctly wrapped.
This covers pretty much everything the pair
remote_controlboard/controlboardwrapper2 wraps and implements, only
excluding calibration interfaces.
In addition, two more interfaces can be accessed through the PolyDriver
idiom: IEncodersTimed and IMotor.

New Experimental Features

EXPERIMENTAL means that the software is under development, provided with
incomplete documentation and it may be modified/renamed/removed without any
notice.

Libraries

os

The following EXPERIMENTAL environment variables can be enabled to enable
forwarding of some extra log information:
- YARP_FORWARD_CODEINFO_ENABLE (file name, line number and function name)
- YARP_FORWARD_HOSTNAME_ENABLE (hostname)
- YARP_FORWARD_PROCESSINFO_ENABLE (command, arguments, pid and thread id)
- YARP_FORWARD_BACKTRACE_ENABLE (stack trace)
  These environment variables could be removed in the future.

robotinterface

Created the new EXPERIMENTAL YARP_robotinterface library by refactoring
as a library the logic of the yarprobotinterface tool, including support for
attaching devices created by the library to external devices created in some
other way.

Carriers

Added the new EXPERIMENTAL unix_stream carriers to communicate with a
process on the same machine using a unix socket.
It's possible to use the ack option (unix_stream+ack) in case you need
flow control.

Devices

Added Realsense2WithIMU EXPERIMENTAL device.
This is a driver for Realsense D435i.
Added Relasense2Tracking EXPERIMENTAL device.
This is a driver for Realsense T265.
added laserFromRosTopic EXPERIMENTAL device.
It exposes a lidar ROS topic (dataype sensor_msgs::LaserScan) on YARP,
using the yarp::dev::IRangefinder2D interface.

Bug Fixes

Libraries

os

`Port`

Passing an invalid string when setting the QoS by DSCP no longer sets it to 0.

sig

`Image`

Fixed pixel type and the orientation settings when using the move constructor
and the move assignment operator.

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.3.0..v3.4.0):

   470	Daniele E. Domenichelli <[email protected]>
    75	Marco Randazzo <[email protected]>
    27	Nicolò Genesio <[email protected]>
    18	Silvio Traversaro <[email protected]>
     8	Ettore Landini <[email protected]>
     7	Bartek Łukawski <[email protected]>
     4	Prashanth Ramadoss <[email protected]>
     3	Alexandre Gomes Pereira Antunes <[email protected]>
     3	Giulio Romualdi <[email protected]>
     2	Andrea Ruzzenenti <[email protected]>
     1	Alessandro Roncone <[email protected]>
     1	Paul Fitzpatrick <[email protected]>
     1	Ugo Pattacini <[email protected]>
     1	Valentina Gaggero <[email protected]>

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🚀 YARP 3.4.0 Released #424

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Robotology

🚀 YARP 3.4.0 Released #424

drdanz Jul 31, 2020

Important Changes

Deprecation and Behaviour Changes

Build System

yarp_prepare_plugin

os

yarp::os::ConnectionState

yarp::os::NetworkBase

yarp::os::Port

yarp::os::ResourceFinder

yarp::os::YarpPluginSettings

yarp::os::Log

dev

Devices

Tools

yarp

New Features

Build System

yarp_add_idl

yarp_prepare_plugin

Libraries

conf

os

yarp::os::NetworkBase

yarp::os::NetType

yarp::os::Time

yarp::os::Log

yarp::os::ManagedBytes

yarp::os::Portable

yarp::os::Port

sig

yarp::sig::ImageOf

yarp::sig::VectorOf

math

dev

logger

Carriers

Devices

fakeBattery

fakeLaser

laserFromDepth

Localization2DServer

multipleAnalogSensorsMsgs

multipleanalogsensorsserver

multipleanalogsensorsclient

multipleanalogsensorsremapper

ovrheadset

Rangefinder2DClient

Rangefinder2DWrapper

rpLidar2

transformClient

transformServer

Tools

yarp

yarprun

GUIs

yarpmanager

yarplaserscannergui

yarpdataplayer

yarpview

yarplogger

Bindings

New Experimental Features

Libraries

os

robotinterface

Carriers

Devices

Bug Fixes

Libraries

os

Port

sig

Image

Contributors

Replies: 0 comments

drdanz
Jul 31, 2020

`yarp_prepare_plugin`

`yarp::os::ConnectionState`

`yarp::os::NetworkBase`

`yarp::os::Port`

`yarp::os::ResourceFinder`

`yarp::os::YarpPluginSettings`

`yarp::os::Log`

`yarp`

`yarp_add_idl`

`yarp_prepare_plugin`

`yarp::os::NetworkBase`

`yarp::os::NetType`

`yarp::os::Time`

`yarp::os::Log`

`yarp::os::ManagedBytes`

`yarp::os::Portable`

`yarp::os::Port`

`yarp::sig::ImageOf`

`yarp::sig::VectorOf`

`fakeBattery`

`fakeLaser`

`laserFromDepth`

`Localization2DServer`

`multipleAnalogSensorsMsgs`

`multipleanalogsensorsserver`

`multipleanalogsensorsclient`

`multipleanalogsensorsremapper`

`ovrheadset`

`Rangefinder2DClient`

`Rangefinder2DWrapper`

`rpLidar2`

`transformClient`

`transformServer`

`yarp`

`yarprun`

`yarpmanager`

`yarplaserscannergui`

`yarpdataplayer`

`yarpview`

`yarplogger`

`Port`

`Image`