Contrary setter yelps and goes aboard (7)
I believe the answer is:
embarks
'goes aboard' is the definition.
(I've seen this before)
'contrary setter yelps' is the wordplay.
'contrary' shows that the letters should be reversed in order.
'setter' becomes 'me' (the setter of the clue).
'yelps' becomes 'barks' (I can't justify this - if you can you should give a lot more credence to this answer).
'me' backwards is 'em'.
'em'+'barks'='EMBARKS'
'and' acts as a link.
Can you help me to learn more?
(Other definitions for embarks that I've seen before include "Goes on board ship or plane" , "Sets out" , "Boards ship" , "Goes aboard" .)