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Modifica Date del Corso: Lorenzo Natale, IIT, “Middleware and robotic software programming”, 10 - 20 May 2016

10 hours (3 credits)

Day 1: Aula Riunioni del Dipartimento di Ingegneria dell'Informazione, Largo Lucio Lazzarino, Pisa
Day 2 - Day 4: Aula Riunioni del Dipartimento di Ingegneria dell'Informazione, via G. Caruso 16, Pisa – Ground Floor

Short Abstract:
YARP is an open source platform that was developed for robot programming ( It supports code re-use by providing a platform independent interface to the hardware and operating system and by supporting modular programming. The main features are a library for interprocess communication that promotes peer-to-peer communication (synchronous and asynchronous) and a plugin-system that allows extending YARP adding support for new protocols and devices. This course will introduce the main features of YARP and will show in practical examples how it can be used to control a humanoid robot. The course is organized as a set of tutorials; students are invited to bring their own laptop to follow the tutorials.

Course Contents in brief:

  • Robotic middleware and component based programming. Introduction to YARP.
  • Ports, Modules and threading.
  • Interface Definition Languages in YARP, interoperability with ROS.
  • Interfacing with OpenCV, image processing and motor control.


  • May 10, 10:30-12:30
  • May 13, 15:00-17:00
  • May 18, 15:00-18:00
  • May 20, 15:00-18:00