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.

• [email protected]