Yarp devices for ROS2

This repository contains the YARP devices and utilities for ROS2.

:construction: This repository is currently work in progress. :construction: :construction: The software contained is this repository is currently under testing. :construction: APIs may change without any warning. :construction: This code should be not used before its first official release :construction:

Documentation

Documentation of the individual devices is provided in the official Yarp documentation page:

Installation

Build with pure CMake commands

# Configure, compile and install
cmake -S. -Bbuild -DCMAKE_INSTALL_PREFIX=<install_prefix>
cmake --build build
cmake --build build --target install

# Make YARP devices available
export YARP_DATA_DIRS=$YARP_DATA_DIRS:<install_prefix>/share/yarp

# Make ROS msgs available in [ament index](https://github.com/ament/ament_index)
export AMENT_PREFIX_PATH=$AMENT_PREFIX_PATH:<install_prefix>

Build with ROS msgs compiled in separate colcon workspace

# Compile the colcon workspace containing the required messages and services
(cd ros2_interfaces_ws && colcon build)

# Make the workspace available
. ros2_interfaces_ws/install/setup.bash

# Configure and compile
cmake -S. -Bbuild -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs:BOOL=ON -DCMAKE_INSTALL_PREFIX=<install_prefix>
cmake --build build
cmake --build build --target install

# Make YARP devices available
export YARP_DATA_DIRS=$YARP_DATA_DIRS:<install_prefix>/share/yarp

CI Status

:construction: This repository is currently work in progress. :construction:

License

:construction: This repository is currently work in progress. :construction:

Maintainers

This repository is maintained by:

	@randaz81
	@elandini84