tf2_web_republisher

The tf2_web_republisher package can be used to throttle and precompute tf transform information to be sent via the rosbridge_suite to a ros3djs web client. The tf2_web_republisher is developed as part of the Robot Web Tools effort.

Action interface

The ROS node starts a ROS action server that allows clients to request transforms for a set of source frames relative to a target frame. The action server will compute the transforms at a specified rate and return them as feedback.

# goal
string[] source_frames
string target_frame
float32 angular_thres
float32 trans_thres
float32 rate
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# result
---
# feedback
geometry_msgs/TransformStamped[] transforms

• source_frames - list of source TF frames to be transformed
• target_frame - target TF frame to which the source frames are transformed
• angular_thres - update threshold for angular changes in radians
• trans_thres - update threshold for translational changes in meters
• rate - maximum update rate of geometry_msgs/msg/TransformStamped messages on the feedback channel. Each feedback message contains a stamped transform for each specified source_frame.

License

tf2_web_republisher is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS file for a full list of contributors.