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Tutorial on Yarpmanager

This tutorial will quickly guide you to use yarpmanager to run Yarp applications

You will learn how to

  • Use yarpmanager
  • Run multiple instance of a module
  • Add connections
  • Run module with dependency and other constraint
  • Find the applications
  • etc

Tutorial

In this tutorial we build an application to run the YARP fakeFrameGrabber and yarpview. We will see how we can use yarpmanager to run the modules and establish their connections. Moreover we will learn how to write a Yarp application description (XML) file.

Running the tutorial application

  • Simply switch to the tutorial folder and run the yarpmanager. Then open/run the Tutorial_Yarpmanager application for the GUI then connect the ports:
$ cd tutorial_yarpmanager
$ yarpmanager

application

Modify the application

To modify the application you can edit the file applications/tutorial_yarpmanager.xml. Open and edit as you like the xml with a text editor. For example you can add another instance of fakeFrameGrabber and yarpview. Try to modify the command line parameters of fakeFrameGrabber for example to display a ball (--mode ball) instead of a line (--mode line).