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

Authors: Lorenzo Natale, Paul Fitzpatrick, Giorgio Metta

General purpose module to intantiate device in YARP. Used in icub to run the framegrabbers.

Back to iCub YARP module specifications

Compiler & Linker Dependencies

Include files



YARP libs

Run-time Dependencies

Module arguments

--device dragonfly 
--d 0 
--width 320 
--height 240 
--white_balance 20 50 
--gain 600 
--name /icub/cam/left or /icub/cam/right

Ports accessed

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


Ports created

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


Input data files


Output data files


Configuration files


User interface mechanism

Run-time modification of module parameters

Parameters can be changed online through the YARP program:


OS on which the module was developed

Windows, Linux

OS on which the module was tested

Windows, Linux

Operating system dependencies

None, but the module accesses to firewire camera as such it requires firewire board and device driver.

Example instantiation of the module

Run & port connection commands

yarpdev --device dragonfly --d 0 --width 320 --height 240 --white_balance 20 50 --gain 600 --name /icub/cam/left


yarpdev --device dragonfly --d 1 --width 320 --height 240 --white_balance 20 50 --gain 600 --name /icub/cam/right

iCub Capabilities

iCub capability code

All the ones involving vision.

Other Yarp modules required to effect this capability


Example instantiation


Back to iCub YARP module specifications