Tutorial on basic communication in YARP

This tutorial covers basic communication in YARP using Port and BufferedPort. After doing this tutorial you will be expected to know the concept of data-flow (i.e., streaming) ports, synchronous and asynchronous communication.

will guide you to the use

• yarp::os::Port
• yarp::os::BufferedPort
• the main YARP command-line interfaces

How to build the tutorial

• Open a terminal and switch to the folder which contains C++ code (e.g., tutorial_yarp-ports/port/)
• create a build directory
• compile and build

$ cd tutorial_yarp-ports/port/
$ mkdir build
$ cd build
$ cmake ../
$ make

How to run the tutorial

• make sure yarp server is running (yarp where), if not open a terminal and run it :

$ yarpserver --write

• open another terminal and switch to the build directory and run the tutorial_yarp-port:

$ ./tutorial_yarp-port

• in another terminal run:

$ yarp write /w

• in another terminal run :

$ yarp read /r

• connect the ports:

$ yarp connect /w /relay/in
$ yarp connect /relay/out /r

• write something in the terminal where you have launched yarp write and you should be able to see the message in the terminal belong to yarp read

Tutorial Solution

Note that the solution is provided from within the branch solution.

How to complete the assignment