<> <> This server broadcasts static transforms and is used in conjunction with built-in RCommander tools to define persistent frames that motions can be defined with respect to. See [[rcommander_pr2/tutorials/Face Detection and Understanding Reference Frames| Face Detection and Understanding Reference Frames]] for an example. == ROS API == <> {{{ #!clearsilver CS/NodeAPI node.0 { srv{ 0.name= broadcast_transform 0.type= tf_broadcast_server/BroadcastTransform 0.desc= Instructs the server to broadcast the given transform with its associated name. } srv{ 1.name= stop_broadcast_transform 1.type= tf_broadcast_server/RemoveTransform 1.desc= Given a transform name, will remove it from the list of transforms being actively broadcasted. } srv{ 2.name= clear_all_transforms 2.type= tf_broadcast_server/ClearTransforms 2.desc= Clears all transforms being broadcasted. } } }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage