Brief description

This project generates C++ code from a configuration text file that describes the set of inputs (i.e. ports/topics and their types), data conversions that may be applied to the inputs, and a detailed specification of the output (i.e. list of types, hierarchically defined). The yarp bottle generator parses a configuration file creates a C++ file. After compiling the C++ file and subsequent execution, the result acts as a bridge between YARP and ROS. The generated code reads data from several inputs (YARP ports or ROS topics), and constructs a YARP Bottle as output. Note that the yarp bottle generator has two modes of operation: (i) From ROS topics to a YARP port (ROS-YARP mode) and (ii) from YARP ports to a ROS topic (YARP-ROS mode). On one hand, reading from/sending to YARP ports is straightforward because our code generator is based on YARP bottles. On the other hand, reading from/sending to ROS topics needs an additional conversion, which is handled by the run-time YARP to ROS converter yarpidl_rosmsg.