YARP

Yet Another Robot Platform

RUNNING ADMM

1. Start a YARP server (>> yarp server) in the terminal

2. Open a new tab and run agent1 ( >> ./ag1)

3. Open a new tab and run agent2 ( >> ./ag2 )

4. Open a new tab and run agent3 ( >> ./ag3 )

5. Open a new tab and run the aggregator ( >> ./zcon )

6. Open an new tab and start the scope ( >> yarpscope --xml ADMMscope.x ml)

7. Open a new tab and start the clock (>> ./clocker 20) "20" is the MAX_ITER of the program

(where ">>" is simply the prompt)

USEFUL

how to compile with cmake

At the folder where the source code is located

>> cmake .

>> make

check if YARP is running properly

>> yarp check

how to find the yarp server

>> yarp detect

>> yarp where

TODO

Yarp Multicast (send the same message to everybody)
Yarp without Yarp (wrap a process with yarp code without installing YARP)
- Install SWIG (using homebrew)
- Tutorial on calling YARP from MATLAB
Spawning hundrends of nodes
Yarp Clock (synchronization)
Data Flow (finite state machines)
Yarp Network (Configuration and Statistcs)
Yarp Messages (Types)