roslib/dist/src/tf/TFClient.d.ts

The standard ROS Javascript Library

import { default as ActionClient } from '../actionlib/ActionClient.ts';
import { default as Goal } from '../actionlib/Goal.ts';
import { default as Topic } from '../core/Topic.ts';
import { tf2_msgs } from '../types/tf2_msgs.ts';
import { tf2_web_republisher } from '../types/tf2_web_republisher.ts';
import { default as BaseTFClient } from './BaseTFClient.ts';
/**
 * A TF Client that listens to TFs from tf2_web_republisher.
 */
export default class TFClient extends BaseTFClient {
    #private;
    currentGoal: Goal<tf2_web_republisher.TFSubscriptionGoal, tf2_web_republisher.TFSubscriptionFeedback> | false;
    currentTopic: Topic<tf2_msgs.TFMessage> | false;
    actionClient: ActionClient<tf2_web_republisher.TFSubscriptionGoal, tf2_web_republisher.TFSubscriptionFeedback>;
    /**
     * @param options
     * @param options.ros - The ROSLIB.Ros connection handle.
     * @param [options.fixedFrame=base_link] - The fixed frame.
     * @param [options.angularThres=2.0] - The angular threshold for the TF republisher.
     * @param [options.transThres=0.01] - The translation threshold for the TF republisher.
     * @param [options.rate=10.0] - The rate for the TF republisher.
     * @param [options.updateDelay=50] - The time (in ms) to wait after a new subscription
     *     to update the TF republisher's list of TFs.
     * @param [options.topicTimeout=2.0] - The timeout parameter for the TF republisher.
     * @param [options.serverName="/tf2_web_republisher"] - The name of the tf2_web_republisher server.
     */
    constructor(options: ConstructorParameters<typeof BaseTFClient>[0]);
    /**
     * Create and send a new goal (or service request) to the tf2_web_republisher
     * based on the current list of TFs.
     */
    updateGoal(): void;
    /**
     * Process the service response and subscribe to the tf republisher
     * topic.
     *
     * @param response - The service response containing the topic name.
     */
    processResponse(response: tf2_web_republisher.RepublishTFsResponse): void;
    /**
     * Unsubscribe and unadvertise all topics associated with this TFClient.
     */
    dispose(): void;
}