This paper presents some recent developments in YARP middleware. aimed to improve its integration with ROS. They include a new mechanism to read/write ROS transform frames and a new set of standard interfaces to intercommunicate with the ROS navigation stack. A novel set of YARP companion modules. https://www.roneverhart.com/Pica-Limon-Salt-Lemon-Spicy-Powder-Packs-100-Piece-Bag/