TF bridge for ROS web clients
Maintainer: Julius Kammerl
- License: BSD
Bugtracker: https://github.com/RobotWebTools/tf2_web_republisher/issues
Source: https://github.com/RobotWebTools/tf2_web_republisher
About
The tf2_web_republisher package can be used to throttle and precompute tf transform information to be sent to via the rosbridge_suite to a ros3djs web client. The tf2_web_republisher is developed as part of the Robot Web Tools effort.
ActionLib Interface
This ROS node starts an actionlib server that listens for TF transformation requests.
#goal string[] source_frames string target_frame float32 angular_thres float32 trans_thres float32 rate --- #result --- #feedback geometry_msgs/TransformStamped[] transforms
- "source_frames" - array of TF source frames strings
- "target_frame" - target_frame string
- "angular_thres" - update threshold for rotations
- "trans_thres" - update threshold for translations
- "rate" - maximum update rate of geometry_msgs/TransformStamped messages on the feedback channel. Each feedback message contains a stamped transform for each specified source_frame.
For more information and examples visit Robot Web Tools
Source Code
Source code is available at https://github.com/RobotWebTools/tf2_web_republisher.
Support
Please send bug reports to the GitHub Issue Tracker. Feel free to contact us at any point with questions and comments.