YARP 2.4 Migration

This page is still work in progress.

Migrating from YARP 2.3 to YARP 2.4 might require some changes to your code.

Things that change in iCub

• Remove references to ICUB_ROOT in ResourceFinder configuration

• No need to set ICUB_ROOT environment variable

• ICUB_ROOT.ini is obsolete

• Target install_application and ICUB_INSTALL_APPLICATIONS cmake flag removed, now applications and other files are with the binaries both in the build and in the installation directory

• Updated installation instructions:

ICub Software Installation

• Repository description Better_Repository, in particular CMake templates have been updated:

Simple template for modules in main

Simple template for libraries in main

Simple template for modules in contrib

Simple template for libraries in contrib

• Before you compile modules in contrib you have to set up the contrib package (this is described in the installation instructions)

• cmake functions for applications like icub_app()/icub_app_install() are obsolete, use yarp_install() instead

• Devices:

controlBoardWrapper2
analogServer 
virtualAnalogServer

have been moved to yarp. The version in icubmod is deprecated and will be removed.

• YARP_ROBOT_NAME

Changes in YARP

• ResourceFinder changed: see ResourceFinder

List of incompatible changes

This is a list of incompatible changes from YARP 2.3 series to YARP 2.4

CMake

YARP_MODULE_PATH

cmake variable YARP_MODULE_PATH is a real "PATH" and therefore could be a list and not a single directory. This might break in a few cases (i.e. when used in include(${YARP_MODULE_PATH}/something.cmake)) There are 2 options to fix this:

• Use the variable YARP_MODULE_DIR instead of YARP_MODULE_PATH:

    include(${YARP_MODULE_DIR}/something.cmake)

• Add YARP_MODULE_PATH to the CMAKE_MODULE_PATH variable and use the filename without the path and the extension :

    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${YARP_MODULE_PATH})
    include(something)