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TFClient Documentation #1137

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TFClient Documentation #1137

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21 changes: 21 additions & 0 deletions packages/roslib/src/tf/TFClient.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,27 @@ import BaseTFClient from "./BaseTFClient.ts";

/**
* A TF Client that listens to TFs from tf2_web_republisher.
*
* @example Canceling Goals
* ```javascript
* const tfClient = new TFClient({
* ros: ros,
* fixedFrame: 'world'
* });
*
* // Subscribe to a frame
* tfClient.subscribe('turtle1', function(tf) {
* console.log('Transform received:', tf);
* });
*
* // Cancel the current goal only
* if (tfClient.currentGoal) {
* tfClient.currentGoal.cancel();
* }
*
* // Cancel all goals associated with this TF client
* tfClient.actionClient.cancel();
* ```
*/
export default class TFClient extends BaseTFClient {
currentGoal:
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