YarpOpenraveAnalogSensors

YarpOpenraveAnalogSensors

Requirements

Depends on:

• YARP 3.3+

Usage

First open a:

yarp server

Notes on Invocation

These examples use the yarpdev executable to load YarpOpenraveAnalogSensors directly. However, you can find more interesting examples loading YarpOpenraveAnalogSensors via OpenraveYarpPluginLoader at ../../OpenravePlugins/OpenraveYarpPluginLoader#yarpopenraveanalogsensors.

Example 1

Open YarpOpenraveAnalogSensors device with the physicsRobot.env.xml environment provided upon installation, apply to robot index 0 and force/torque sensor index 0 (name and view are required):

yarpdev --device multipleanalogsensorsserver --subdevice YarpOpenraveAnalogSensors --robotIndex 0 --ftSensorIndices 0 --period 50 --env openrave/physicsRobot.env.xml --name /Physicsbot --view

Read from port:

yarp read ... /Physicsbot/measures:o

Or even (requires BottleExtract):

yarpscope --index "(0 1 2 3 4 5)" --color "(Red Green Blue LightRed LightGreen LightBlue)"

yarp connect /Physicsbot/measures:o /yarpscope tcp+recv.portmonitor+type.dll+file.BottleExtract+index.5+subindex.0+subsubindex.0