Class TFClient

constructor

• new TFClient(
      options: {
          angularThres?: number;
          fixedFrame?: string;
          rate?: number;
          ros: Ros;
          serverName?: string;
          topicTimeout?: number;
          transThres?: number;
          updateDelay?: number;
      },
  ): TFClient

  Parameters

  • options: {
        angularThres?: number;
        fixedFrame?: string;
        rate?: number;
        ros: Ros;
        serverName?: string;
        topicTimeout?: number;
        transThres?: number;
        updateDelay?: number;
    }

    • OptionalangularThres?: number

      The angular threshold for the TF republisher.

    • OptionalfixedFrame?: string

      The fixed frame.

    • Optionalrate?: number

      The rate for the TF republisher.

    • ros: Ros

      The ROSLIB.Ros connection handle.

    • OptionalserverName?: string

      The name of the tf2_web_republisher server.

    • OptionaltopicTimeout?: number

      The timeout parameter for the TF republisher.

    • OptionaltransThres?: number

      The translation threshold for the TF republisher.

    • OptionalupdateDelay?: number

      The time (in ms) to wait after a new subscription to update the TF republisher's list of TFs.

  Returns TFClient

actionClient

currentGoal

currentTopic

dispose

• dispose(): void

  Unsubscribe and unadvertise all topics associated with this TFClient.

  Returns void

processResponse

• processResponse(response: RepublishTFsResponse): void

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

  Parameters

  • response: RepublishTFsResponse

    The service response containing the topic name.

  Returns void

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