YARP

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Yet Another Robot Platform

YARP is a library and toolkit for communication and device interfaces, used on everything from humanoids to embedded devices.

Documentation

Officially supported systems:

The following systems are officially supported and tested by github CI.

• Ubuntu 22.04 - clang 17
• Ubuntu 22.04 - gcc 11.4.0
• Windows 10.0.17763 - VS 16.11.2.50704
• Windows 10.0.20348 - VS 17.8.34309.116
• macOS 12.6.9 - clang 14.0.3
• macOS 13.6 - clang 14.0.3

Installation

See full instructions at https://www.yarp.it/latest/yarp_installation.html

• On Linux:

sudo apt-get install cmake libace-dev
wget -nv https://github.com/robotology/ycm/releases/download/v0.15.3/ycm-cmake-modules-0.15.3-all.deb
sudo dpkg -i ycm-cmake-modules-0.15.3-all.deb
git clone https://github.com/robotology/yarp
cd yarp && mkdir build && cd build && cmake .. && make
sudo make install  # Optional

Regular YARP builds use the ACE library. On Linux and macOS, YARP can be compiled without ACE by adding -DSKIP_ACE=TRUE when running cmake.

Tutorials

There's a comprehensive list of tutorials here:

• https://www.yarp.it/latest/yarp-tutorials.html

License

Material included in YARP is Copyright of Istituto Italiano di Tecnologia (IIT), RobotCub Consortium and other contributors.

Most YARP components are released under the terms of the BSD-3-Clause. Some optional components are released under the terms of the LGPL-2.1 or later, GPL-2.0 or later, GPL-3.0 or later, or Apache-2.0 License. See the file COPYING and LICENSE files for details.

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