TFClient unified goal_id

This issue has been tracked since 2022-08-22.

if i was to use ros3djs to visualize a URDF or a 2d map, the TFClient sends a goal to the tf2_web_republisher with a goal_id.

I would like to open the same visualization on multiple tabs or devices, and I don't want the tf2_web_republisher to send the same transforms multiple times only because the goal_id is different. Would it be possible to choose a constant goal_id to reduce the bandwidth of data being published by the tf2_web_republisher.

To get an idea of how bad the bandwidth gets, try the following visualize a URDF tutorial. Monitor the bandwidth on the feedback topic rostopic bw tf2_web_republisher/feedback while refreshing the URDF visualizer tab.

Also, could you update the documentation of the TFClient to show how to cancel a specific goal? I've been using this.TfClient.currentGoal.cancel(); to cancel a specific goal or this.TfClient.actionClient.cancel(); to cancel all goals.

More Details About Repo
Owner Name RobotWebTools
Repo Name roslibjs
Full Name RobotWebTools/roslibjs
Language JavaScript
Created Date 2013-03-15
Updated Date 2022-11-22
Star Count 549
Watcher Count 54
Fork Count 340
Issue Count 66


Issue Title Created Date Updated Date