Tutorial on basic client/server communication in YARP

This tutorial covers basic client/server communication using YARP specialized RPC. After doing this tutorial you will be expected to know the concept of services/client, remote procedure call and two-way communications.

will guide you to the use

• yarp::os::RpcServer
• yarp::os::RpcClient
• yarp::os::Bottle
• yarp rpc command line to communicate with a YARP rpc port

How to build the tutorial

• Open a terminal and switch to the tutorial folder
• create a build directory
• compile and build

$ cd tutorial_yarp-rpc
$ mkdir build
$ cd build
$ cmake ../
$ make

How to run the tutorial

• make sure yarp server is running (yarp where), if not open a terminal and run it :

$ yarpserver --write 

Test the server side

• open another terminal and switch to the build directory and run the tutorial_yarp-rpc-server:

$ ./tutorial_yarp-rpc-server

• open and other terminal and send command to the server using yarp rpc:

$ yarp rpc /server
>> hello 
Response: you said hello
...

• close the yarp rpc by pressing CTRL+C

Test the client

• in the build folder run the client and see the the messages exchanged between server and client :

$ ./tutorial_yarp-rpc-client
[INFO]Trying to connect to /server 
yarp: Sending output from /client to /server using tcp
[INFO]Sending message... COUNT 0 
[INFO]Got response: you said COUNT 0 
[INFO]Sending message... COUNT 1 
[INFO]Got response: you said COUNT 1
...