Almost drop-in replacement for "devices" part of YARP, used to run robots in Generative Robotics.
The main goal is to implement an almost drop-in replacement for the "devices" part of YARP, with additional planner properties and features:
- lightweight (no heavy dependencies for the code part)
- compact (easy to mantain and extend)
- with support for writing devices in non-C++ languages, like Python
To achieve easy transition, the goal of dinrail is to automatically support opening YARP devices as dinrail devices, and viceversa.
The project is a fairly standard CMake project. Once it is installed, a basic example is:
find_package(dinrail REQUIRED)
target_link_libraries(target PRIVATE dinrail::dinrail)For internal developement, this repos uses pixi.
Whenever you work on it, run:
pixi run test
to run the test suite and:
pixi run format
to format the source code.