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 * repubServiceName (optional) - the name of the republish_tfs service (non groovy compatibility mode only) default: '/republish_tfs' |
- 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: