yarp2IC

These scripts demonstrate how to easily interface YARP with MATLAB/Simulink without relying on Java bindings.

To this end we can profitably exploit the Instrument Control Toolbox which provides a simple access to sockets, in particular through the tcpip function. Having a socket in MATLAB enables us to directly talk to YARP according to the rules described here.

Just for testing purpose, a Simulink model is available to read from and write to YARP world.

Instructions

Launch the following commands in three different shells:

$1> yarpserver
$2> yarp write /write
$3> yarp read /read

Then, open up the block Settings and enter the correct values.

Finally, run the simulation and type any two numbers in the shell where you've opened the /write port. Check out the model's display as well as the /read port output.

Have fun 🎉