burlap.ros.actionpub

Interface ActionPublisher

All Known Implementing Classes:

ActionMessagePublisher, ActionPublisher.DirectActionPublisher, ActionStringPublisher, CentralizedPeriodicActionPub, RepeatingActionPublisher

public interface ActionPublisher

An interface for classes that can take as input an Action, turn it into a ROS message and publish it to a ROS topic. The abstract class ActionPublisher.DirectActionPublisher provides a Publisher data member and constructors for easily setting up a means to publish to RosBridge.

Note that the publishAction(Action) method should return a time delay, in milliseconds, that tells the caller how long it should wait for the published action to finish executing. If the publishAction(Action) method blocks until an action has completed executing on ROS, then it should return 0. This approach allows you to dynamically determine if actions should be synchronous or asynchronous by how you implement ActionPublisher.

Author:

James MacGlashan.

Nested Class Summary

Nested Classes

Modifier and Type	Interface and Description
static class	ActionPublisher.DirectActionPublisher An abstract class that implements ActionPublisher and provides a Publisher data member, constructors, and setters and getters for streamlining the publishing of messages to ROS BRidge.

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.

Method Detail

publishAction

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. 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.