Class ROS2TFClient

A TF Client that listens to TFs from tf2_web_republisher using ROS2 actions.

Hierarchy

default
- ROS2TFClient

Index

Constructors

Properties

actionClient angularThres currentGoal? fixedFrame frameInfos goal_id rate republisherUpdateRequested ros serverName topicTimeout transThres updateDelay

Methods

dispose processTFArray subscribe unsubscribe updateGoal

Constructors

constructor

new ROS2TFClient(
    options: {
        angularThres?: number;
        fixedFrame?: string;
        rate?: number;
        ros: Ros;
        serverName?: string;
        topicTimeout?: number;
        transThres?: number;
        updateDelay?: number;
    },
): ROS2TFClient
Parameters
- options: {
      angularThres?: number;
      fixedFrame?: string;
      rate?: number;
      ros: Ros;
      serverName?: string;
      topicTimeout?: number;
      transThres?: number;
      updateDelay?: number;
  }
Returns ROS2TFClient
Overrides BaseTFClient.constructor
- Defined in src/tf/ROS2TFClient.ts:17

Properties

actionClient

actionClient: Action<
    TFSubscriptionGoal,
    TFSubscriptionFeedback,
    TFSubscriptionResult,
>

angularThres

angularThres: number

`Optional`currentGoal

currentGoal?: TFSubscriptionGoal

fixedFrame

fixedFrame: string

frameInfos

frameInfos: Partial<
    Record<
        string,
        { cbs: ((tf: Transform) => void)[]; transform?: Transform },
    >,
> = {}

goal_id

goal_id: string

rate

rate: number

republisherUpdateRequested

republisherUpdateRequested: boolean = false

ros

ros: Ros

serverName

serverName: string

topicTimeout

topicTimeout: time

transThres

transThres: number

updateDelay

updateDelay: number

Methods

dispose

dispose(): void
Unsubscribe and unadvertise all topics associated with this TFClient.

Returns void
- Defined in src/tf/ROS2TFClient.ts:65

processTFArray

processTFArray(tf: TFMessage): void
Process the incoming TF message and send them out using the callback functions.
Parameters
- tf: TFMessage
  The TF message from the server.
Returns void
Inherited from BaseTFClient.processTFArray
- Defined in src/tf/BaseTFClient.ts:76

subscribe(frameID: string, callback: (transform: Transform) => void): void
Subscribe to the given TF frame.
Parameters
- frameID: string
  The TF frame to subscribe to.
- callback: (transform: Transform) => void
  Function with the following params:
Returns void
Inherited from BaseTFClient.subscribe
- Defined in src/tf/BaseTFClient.ts:111

unsubscribe

unsubscribe(frameID: string, callback?: (transform: Transform) => void): void
Unsubscribe from the given TF frame.
Parameters
- frameID: string
  The TF frame to unsubscribe from.
- Optionalcallback: (transform: Transform) => void
  The callback function to remove.
Returns void
Inherited from BaseTFClient.unsubscribe
- Defined in src/tf/BaseTFClient.ts:143

updateGoal

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

Returns void
Overrides BaseTFClient.updateGoal
- Defined in src/tf/ROS2TFClient.ts:34