# Contents

## 1 Commands used for ARMing yarp

First thing, we have to create a build folder specifically for cross-compiling yarp:

At this point, I changed a bunch of files. They are listed below.

1. src/libYARP_OS/src/BottleImpl.cpp
2. src/libYARP_OS/src/NameConfig.cpp
3. src/libYARP_OS/src/SystemInfo.cpp

Further, I needed to add the ifaddrs libraries for reasons that I don’t remember now. Please refer to the next section for the diffs.

Put every flag to OFF. We don’t need fancy stuff, just the minimal compilation to work (for the time being). Press c and then t. Put gnustl_static under the ANDROID_STL item that just appeared. Type c, then c, then g. Now compile just YARP_OS:

Everything should run smoothly. There should be a new library called libYARP_OS.a into build-arm/lib.

## 2 Stuff done with android studio IDE

First thing is to move the precompiled library libYARP_OS.a into your app (I have mine into ../../studioProjects/yarp-tts):

## 4 Addition of ifaddrs

For adding the ifaddrs library, I had to change the CMakeLists.txt:

## About

Personal website of Alessandro Roncone, also known as alecive, Ph.D. in robotics engineering, computer scientist, interaction designer, father and runner. From Fall 2018, he is an as Assistant Professor in the CS Department at University of Colorado Boulder.

Alessandro has more than nine years' research experience in robotics. He worked full time with the iCub, one of the most advanced humanoid robots, on machine perception and artificial intelligence. His mastery of C++ and the YARP/ROS software architectures has been employed for research in human-robot interaction, kinematics, tactile perception and robot control. I am looking for students! [LINK]