From Wiki for iCub and Friends
Jump to navigation Jump to search
The correct title of this article is qControlBoardGui. The initial letter is shown capitalized due to technical restrictions.

Author: Jonas Ruesch

Graphical user interface for a YARP control board.

Run without options to see help on usage.

The module runs a remote control board. To connect to any server control board pass '--remote /yarp/port/servercontrolboard' at the command line. If you wish to specify the port of the remote_controlboard of qcontrolboardgui as well specify something like '--local /yarp/port/remotecontrolboard' at the commandline. The server control board has to provide the interfaces IPositionControl, IVelocityControl, IControlLimits, IEncoders and IPidControl for full qcontrolboardgui functionality.

See also:


Back to iCub YARP module specifications

Compiler & Linker Dependencies

none known

Include files




Run-time Dependencies

Module arguments

--local  /myControlBoardGui // local root name of the module
--remote /controlboard      // port name of the server control board to connect to

Ports accessed

Ports that are assumed to exist prior to instantiation of the module (i.e. some other module must create them)

/controlboard               // server controlboard

Ports created

Ports that are instantiated by the module and are then available for other modules to use (using yarp connect)

The following port is created in order to communicate to the server control board but cannot be used by other modules.


Input data files


Output data files


Configuration files


User interface mechanism

Run-time modification of module parameters None

OS on which the module was developed

Linux, Windows

OS on which the module was tested

Windows, Linux

Operating system dependencies

None known

Example instantiation of the module

Run & port connection commands

qControlBoardGui --remote /controlboard


qControlBoardGui --local /mycontrolboardgui --remote /controlboard

iCub Capabilities

iCub capability code


Other Yarp modules required to effect this capability


Example instantiation


Back to iCub YARP module specifications