Class: TFClient

TFClient(options)

new TFClient(options)

A TF Client that listens to TFs from tf2_web_republisher.

Parameters:
Name Type Description
options Object
Properties
Name Type Attributes Default Description
ros Ros

The ROSLIB.Ros connection handle.
fixedFrame string <optional>
 base_link

The fixed frame.
angularThres number <optional>
 2.0

The angular threshold for the TF republisher.
transThres number <optional>
 0.01

The translation threshold for the TF republisher.
rate number <optional>
 10.0

The rate for the TF republisher.
updateDelay number <optional>
 50

The time (in ms) to wait after a new subscription to update the TF republisher's list of TFs.
topicTimeout number <optional>
 2.0

The timeout parameter for the TF republisher.
serverName string <optional>
 /tf2_web_republisher

The name of the tf2_web_republisher server.
repubServiceName string <optional>
 /republish_tfs

The name of the republish_tfs service (non groovy compatibility mode only).
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Methods

dispose()

Unsubscribe and unadvertise all topics associated with this TFClient.

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processResponse(response)

Process the service response and subscribe to the tf republisher topic.

Parameters:
Name Type Description
response Object

The service response containing the topic name.
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processTFArray(tf)

Process the incoming TF message and send them out using the callback functions.

Parameters:
Name Type Description
tf Object

The TF message from the server.
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subscribe(frameID, callback)

Subscribe to the given TF frame.

Parameters:
Name Type Description
frameID string

The TF frame to subscribe to.
callback function

Function with the following params:

Properties
Name Type Description
transform Transform

The transform data.
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unsubscribe(frameID, callback)

Unsubscribe from the given TF frame.

Parameters:
Name Type Description
frameID string

The TF frame to unsubscribe from.
callback function

The callback function to remove.
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updateGoal()

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

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