Add yarp network member to ICub

robotology · Feb 20, 2019 · ee3990a · ee3990a
1 parent fb52121
commit ee3990a
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/devices/ICub/CMakeLists.txt b/devices/ICub/CMakeLists.txt
@@ -17,7 +17,9 @@ target_include_directories(ICub PRIVATE
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
 
 target_link_libraries(ICub PUBLIC
-    Wearable::IWear YARP::YARP_dev)
+    Wearable::IWear
+    YARP::YARP_dev
+    YARP::YARP_init)
 
 yarp_install(
     TARGETS ICub

diff --git a/devices/ICub/src/ICub.cpp b/devices/ICub/src/ICub.cpp
@@ -29,6 +29,7 @@ class WrenchPort : public yarp::os::BufferedPort<yarp::os::Bottle>
     std::vector<double> wrenchValues;
     bool firstRun = true;
     mutable std::mutex mtx;
+    yarp::os::Network yarpNetwork;
 
     using yarp::os::BufferedPort<yarp::os::Bottle>::onRead;
     virtual void onRead(yarp::os::Bottle& wrench)