= TF bridge for ROS web clients =

 * Maintainer: [[Julius Kammerl|Julius Kammerl]]
 * License: BSD
 * Bugtracker: https://github.com/RobotWebTools/tf2_web_republisher/issues
 * Source: https://github.com/RobotWebTools/tf2_web_republisher

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== 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 [[http://robotwebtools.org|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 [[http://robotwebtools.org|Robot Web Tools]]

== Source Code ==
Source code is available at [[https://github.com/RobotWebTools/tf2_web_republisher]]. 

== Support ==
Please send bug reports to the [[https://github.com/RobotWebTools/tf2_web_republisher/issues|GitHub Issue Tracker]]. Feel free to contact us at any point with questions and comments. 

 * [[mailto:robot-web-tools@googlegroups.com|robot-web-tools@googlegroups.com]]


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