The Romans sent a diplomatic mission to settle the matter and take back the prisoners but the negotiations ended abruptly, so Rome declared war on Tarentum. In 281 BC, Roman legions under the command of Lucius Aemilius Barbula entered Tarentum and plundered it. Tarentum, with Samnite and Salentine reinforcements, then lost a battle against the Romans. After the battle the Greeks chose Agis to sign a truce and begin diplomatic talks. These talks were also broken off when 3,000 soldiers from Epirus under the command of Milon entered the town. The Roman consul withdrew and suffered losses from attacks by the Greek ships.