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 MultiProcessRobotData, the action and observation types need to be serializable with cereal.

• If you want to use the RobotLogger, the action and observation types need to inherit from Loggable.

RobotDriver

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

Example

See the example implementation of a dummy robot driver in example.hpp. This dummy driver is also used in the demos.