Class: TFClient

TFClient

new TFClient(options)

A TF Client that listens to TFs from tf2_web_republisher.
Parameters:
Name Type Description
options object with following keys: * ros - the ROSLIB.Ros connection handle * fixedFrame - the fixed frame, like /base_link * angularThres - the angular threshold for the TF republisher * transThres - the translation threshold for the TF republisher * rate - the rate for the TF republisher * updateDelay - the time (in ms) to wait after a new subscription to update the TF republisher's list of TFs * topicTimeout - the timeout parameter for the TF republisher * serverName (optional) - the name of the tf2_web_republisher server
Source:

Methods

processResponse(response)

Process the service response and subscribe to the tf republisher topic
Parameters:
Name Type Description
response the service response containing the topic name
Source:

processTFArray(tf)

Process the incoming TF message and send them out using the callback functions.
Parameters:
Name Type Description
tf the TF message from the server
Source:

subscribe(frameID, callback)

Subscribe to the given TF frame.
Parameters:
Name Type Description
frameID the TF frame to subscribe to
callback function with params: * transform - the transform data
Source:

unsubscribe(frameID, callback)

Unsubscribe from the given TF frame.
Parameters:
Name Type Description
frameID the TF frame to unsubscribe from
callback the callback function to remove
Source:

updateGoal()

Create and send a new goal (or service request) to the tf2_web_republisher based on the current list of TFs.
Source: