Requirements

Depends on https://github.com/asrob-uc3m/yarp-devices

Usage

First open a:

yarp server

Note on Invocation

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

Example 1

Open YarpOpenraveRobotManager device with mapping_room.env.xml environment with ODE, view, apply to robot index 0 call it /robot:

# requires [asrob-uc3m/robotDevastation-openrave-models](https://github.com/asrob-uc3m/robotDevastation-openrave-models)

yarpdev --device YarpOpenraveRobotManager --env openrave/mapping_room.env.xml --physics ode --robotIndex 0 --view --name /ecroSim

Then communicate via:

yarp rpc /ecroSim/rpc:s

For instance:

movf 10.0