SimpleClient

The correct title of this article is simpleClient. The initial letter is shown capitalized due to technical restrictions.

Author: Giorgio Metta

Client application which interfaces directly to iCubInterface. It allows testing basic functionalities like read encoders, set pids, move single/multiple joints, enable/disable amplifiers.

Back to iCub YARP module specifications

Compiler & Linker Dependencies

Include files

ace/OS.h
ace/Log_Msg.h
yarp/os/Network.h
yarp/os/Port.h
yarp/os/Bottle.h
yarp/os/Time.h
yarp/os/Vocab.h
String.h
yarp/dev/ControlBoardInterfaces.h
yarp/dev/PolyDriver.h

Libraries

YARP libs

Run-time Dependencies

Module arguments

--robot     // specifies the name of the robot to connect to (e.g. icub)
--part      // specifies if we want the program to connect only to 
            // a subpart of the robot (e.g. arm or head), 
            // this is useful for debugging

Ports accessed

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

/icub/arm/command:i           
/icub/arm/rpc:i               
/icub/arm/state:o              

/icub/head/command:i          
/icub/head/rpc:i              
/icub/head/state:o     

Ports created

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

/icub/arm/client/command:o    
/icub/arm/client/rpc:o        
/icub/arm/client/state:i      

/icub/head/client/command:o   
/icub/head/client/rpc:o        
/icub/head/client/state:i   

Input data files

None

Output data files

None

Configuration files

None

User interface mechanism

Run-time modification of module parameters None

OS on which the module was developed

Windows

OS on which the module was tested

Windows, Linux

Operating system dependencies

None

Example instantiation of the module

Run & port connection commands

controller_v1 --robot icub.ini
simple_client --robot icub

iCub Capabilities

iCub capability code

N/A

Other Yarp modules required to effect this capability

N/A

Example instantiation

N/A

Back to iCub YARP module specifications