How to Implement a Custom RobotDriver
=====================================

To use robot_interfaces with your own robot, you need to provide implementations
for

- the Action type
- the Observation type
- the RobotDriver


Action and Observation
----------------------

Action and observation can be any arbitrary type, whatever is needed for your
robot.  There are only the following restrictions:

- If you want to use the :cpp:class:`~robot_interfaces::MultiProcessRobotData`,
  the action and observation types need to be serializable with cereal_.
- If you want to use the :cpp:class:`~robot_interfaces::RobotLogger`, the action
  and observation types need to inherit from
  :cpp:class:`~robot_interfaces::Loggable`.


RobotDriver
-----------

Your robot driver needs to be a class that inherits from
:cpp:class:`~robot_interfaces::RobotDriver`, using your ``Action`` and
``Observation`` types (see above).


Example
-------

See the example implementation of a dummy robot driver in `example.hpp
<https://github.com/open-dynamic-robot-initiative/robot_interfaces/blob/master/include/robot_interfaces/example.hpp>`_.
This dummy driver is also used in the
`demos <https://github.com/open-dynamic-robot-initiative/robot_interfaces/blob/master/demos>`_.


.. _cereal: https://uscilab.github.io/cereal/