burlap.ros.actionpub

Class ActionMessagePublisher

java.lang.Object

burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

burlap.ros.actionpub.ActionMessagePublisher

All Implemented Interfaces:

ActionPublisher

public class ActionMessagePublisher
extends ActionPublisher.DirectActionPublisher

An ActionPublisher that publishes to ROS a fixed ROS message every time publishAction(Action) is called. The publishAction(Action) method will return a constant time delay specified by the constructor of this class.

Author:

James MacGlashan.

Nested Class Summary

Nested classes/interfaces inherited from interface burlap.ros.actionpub.ActionPublisher

ActionPublisher.DirectActionPublisher

Field Summary

Fields

Modifier and Type	Field and Description
protected int	delayTime The time delay to return
protected Object	msg The ROS message to publish

Fields inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

pub

Constructor Summary

Constructors

Constructor and Description
ActionMessagePublisher(ros.Publisher pub, Object msg, int delayTime) Initializes
ActionMessagePublisher(String topic, String msgType, ros.RosBridge rosBridge, Object msg, int delayTime) Initializes

Method Summary

Modifier and Type	Method and Description
int	publishAction(burlap.mdp.core.action.Action a) Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object.

Methods inherited from class burlap.ros.actionpub.ActionPublisher.DirectActionPublisher

getPub, publish, setPub

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

msg

protected Object msg

The ROS message to publish

delayTime

protected int delayTime

The time delay to return

Constructor Detail

ActionMessagePublisher

public ActionMessagePublisher(String topic,
                              String msgType,
                              ros.RosBridge rosBridge,
                              Object msg,
                              int delayTime)

Initializes

Parameters:

topic - the ROS topic to publish to

msgType - the ROS message type of the ROS topic

rosBridge - the RosBridge connection

msg - the constant ROS message that will always be published

delayTime - the delay time the publishAction(Action) method will return.

ActionMessagePublisher

public ActionMessagePublisher(ros.Publisher pub,
                              Object msg,
                              int delayTime)

Initializes

Parameters:

pub - the Publisher used to publish action messages.

msg - the constant ROS message that will always be published

delayTime - the delay time the publishAction(Action) method will return.

Method Detail

publishAction

public int publishAction(burlap.mdp.core.action.Action a)

Description copied from interface: ActionPublisher

Takes a BURLAP Action turns into a ROS message, and publishes it to ROS through this object's ROS Bridge Publisher object. Note that when you implement this method, you must make the publish call to ROSBridge yourself using a Publisher object.

Parameters:

a - The BURLAP Action to turn into a ROS message and publish.

Returns:

the time in milliseconds that the calling code should wait for the published action to finish executing. Will return 0 if this method blocks until ROS action completion.