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YARP 3.9.0

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@robotology-bot robotology-bot released this 24 Nov 10:56
· 160 commits to master since this release
v3.9.0
768dfed

YARP 3.9.0 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found
here.

Major Behaviour Changes

  • Yarp now supports C++20 standard.
  • Catch2 library updated to version: 3.4.0
  • YCM library updated to 0.15.3

Deprecations and removals

  • Removed yarp companion command TopicTest.
  • Removed unnecessary rosmsg dependencies in yarpdataplayer.
  • Removed UNMAINTAINED executable yarpfs.
  • Removed UNMAINTAINED library libyarpc.
  • Removed deprecated device controlboardwrapper2.

Fixes

  • General improvement to yarp github CI to support Ubuntu22.04+clang17, Windows2022+VS17
  • Fixed segfault in audioRecorderDeviceBase device.
  • Added missing doxygen tags to several interfaces and devices.
  • Fixed segfault when reading a mono .wav file from disk in SoundFileWav.cpp.
  • Fixed stdin in yarprun --cmd <cmd> --stdio.
  • Removed robot and iCubGui inertial ports from the example app as the GUI is unable to handle the MAS client.
  • Fix bug that forces images to be sent through RPC calls in frameGrabber_nwc_yarp.
  • The error message upon inconsistent encoder timestamps has been throttled in controlBoard_nws_yarp.
  • Fixed issue regarding windows/linux timestamps synchronization: yarp::os::SystemClock::nowSystem() now maps to std::chrono::system_clock instead of std::chrono::high_resolution_clock

New Features

Docker

Added new experimental docker image for Ubuntu22.04 http://github.com/robotology/yarp/docker

GUIs

yarpaudiocontrolgui

Added new gui yarpaudiocontrolgui to start/stop an audioRecorder_nwc_yarp or an audioPlayer_nwc_yarp device.

yarpllmgui

Added new gui yarpllmgui to control IChatbot devices.

Libraries

libYARP_sig

  • The class yarp::sig::sound has refactored to avoid the internal use (private implementation) of yarp::sig::Image data type.

libYARP_companion

  • Added companion command yarp split. The command splits an heterogeneous nested bottle received from a port into multiple ports.

libYARP_dev

  • Added new interface: IJointCoupling, an interface for handling coupled joints.
  • Added new interfaces: ISpeechSynthesizer, ISpeechTranscription.
  • Added new interface: IChatBot to interact with chatbots.
  • The interface ITorqueControl now supports four a new friction parameters: velocityThresh.
    These parameters are used to enable the new torque control law and fine tune the the friction compensation at FW level.

Devices

frameTransformStorage + frameTransformClient + frameTransformServer

  • Added a timeout related parameter (FrameTransform_container_timeout) to change the refresh interval for old timed frame transforms.
  • The parameter has also been added to the frameTransformClient and frameTransformServer configuration files. The extern-name for this parameter is:
    ftc_storage_timeout for frameTransformClient files; fts_storage_timeout for frameTransformServer files

chatBot

  • Added nwc device chatBot_nwc_yarp for the IChatBot interface and the corresponding test
  • Added nws device chatBot_nws_yarp
  • Added fake device fakeChatBotDevice

speechSynthesizer

  • Added nwc device speechSynthesizer_nwc_yarp for the ISpeechSynthesizer interface and the corresponding test
  • Added nws device speechSynthesizer_nws_yarp
  • Added fake device fakeSpeechSynthesizer

speechTranscription

  • Added nwc device speechTranscription_nwc_yarp for the ISpeechTranscription interface and the corresponding test
  • Added nws device speechTranscription_nws_yarp
  • Added fake device fakeSpeechTranscription

Contributors

This is a list of people that contributed to this release (generated from the
git history using git shortlog -ens --no-merges v3.8.0..v3.9.0):

   127	Marco Randazzo <marco.randazzo@iit.it>
    37	Ettore Landini <ettore.landini@iit.it>
    14	Nicolò Genesio <nicolo.genesio@iit.it>
    14	fbrand-new <francesco.brand@iit.it>
     7	Silvio Traversaro <silvio.traversaro@iit.it>
     6	Arren Glover <arren.glover@iit.it>
     4	robotology-bot (Tag Repository Action) <robotology@iit.it>
     3	Bartek Łukawski <bwmn.peter@gmail.com>
     2	Davide <davidegorbani@gmail.com>
     2	Ugo Pattacini <ugo.pattacini@iit.it>
     1	Davide Gorbani <101326942+davidegorbani@users.noreply.github.com>
     1	Marco Randazzo <marco.randazzo@.iit.it>
     1	Simone <simone.girardi@iit.it>
     1	Simone Girardi <simone.girardi@iit.it>
     1	Stefano Dafarra <stefano.dafarra@iit.it>
Assets 2