🚀 YARP 3.4.0 Released

[drdanz]

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 <daniele.domenichelli@iit.it>
    75	Marco Randazzo <marco.randazzo@iit.it>
    27	Nicolò Genesio <nicolo.genesio@iit.it>
    18	Silvio Traversaro <silvio.traversaro@iit.it>
     8	Ettore Landini <ettore.landini@iit.it>
     7	Bartek Łukawski <bwmn.peter@gmail.com>
     4	Prashanth Ramadoss <prashanth.ramadoss@iit.it>
     3	Alexandre Gomes Pereira Antunes <alexandre.gomespereira@iit.it>
     3	Giulio Romualdi <giulio.romualdi@iit.it>
     2	Andrea Ruzzenenti <andrea.ruzzenenti@iit.it>
     1	Alessandro Roncone <alessandro.roncone@iit.it>
     1	Paul Fitzpatrick <paulfitz@alum.mit.edu>
     1	Ugo Pattacini <ugo.pattacini@iit.it>
     1	Valentina Gaggero <valentina.gaggero@iit.it>