TalkerBot

This class is the ROS talker node mainly used to publish commands to the ROS network. TalkerBot extends AbstractNodeMain.

onStart(final ConnectedNode connectedNode)

This method is called once an instance of Talker is called. Here the publisher is initialized. The initialization includes specifying the topic that will be published on as well as its data type. publish is used to issue the location goals to the robot.

publish(String message)

This method is public and can be accessed externally to publish a message on the publisher in a TalkerBot instance.

• Parameters:
  • Sting message: the message to be published on publisher