#75 Java->swig->yarp->iCubSimulator

[Klaus]

Greetings!
Iḿ not sure if this is the right tracker to place this question, but here it goes. :)

I have yarp working with java thanks to swig here. But I would like to control my iCub simulator robot with it.
I couldn't find any tutorial regarding that, is it possible?

Thanks in advance!

Klaus

[Paul Fitzpatrick]

Yes, it is possible. Looks like it hasn't gotten written down anywhere though (other than in people's code). I'll prepare a tutorial. In the meantime, I added an example that should get you started in $YARP_ROOT/example/swig/src/Example4.java, copied here:

import yarp.Network;
import yarp.Time;
import yarp.Property;
import yarp.PolyDriver;
import yarp.IPositionControl;
import yarp.IEncoders;
import yarp.DVector;

class Example4 {

public static void main(String[] args) {
System.loadLibrary("jyarp");
Network yarp = new Network();

// set up a description of the device we want
// in this case, a remote motor control board
Property prop = new Property();
prop.put("device","remote_controlboard");
prop.put("local", "/example/motor/client");
prop.put("remote", "/icubSim/head"); // this is for the icubSim
// or fake it with "yarpdev --device test_motor --name /icubSim/head"
System.out.println("Property is " + prop);

// create the device
PolyDriver dev = new PolyDriver(prop);

// get the "IPositionControl" interface
IPositionControl pos = dev.viewIPositionControl();
IEncoders enc = dev.viewIEncoders();

float at = 0;
DVector v = new DVector(enc.getAxes());
for (int i=0; i<10; i++) {
pos.positionMove(0,at);
System.out.println("Set axis 0 to " + at + " degrees");
Time.delay(1);
enc.getEncoders(v);
System.out.println("Encoder at " + v.get(0));
at += 5;
}

// shut things down
dev.close();
}
}

[Klaus]

You saved my life. :) Its working perfectly.
Thanks!