useTF

Subscribes to the transform of frameId (relative to fixedFrame) via tf2_web_republisher, re-rendering with each update.

import { useTF } from "roshooks";

const transform = useTF({ frameId: "base_link", fixedFrame: "odom" });

Options

Option	Type	Default	Description
frameId	string	—	The TF frame to subscribe to, e.g. "base_link".
fixedFrame	string	"base_link"	The fixed frame to express the transform in.
angularThres	number	2.0	Angular threshold used by the TF republisher.
transThres	number	0.01	Translation threshold used by the TF republisher.
rate	number	10.0	Update rate (Hz) for the TF republisher.
updateDelay	number	50	Time (ms) to wait after a new subscription before updating the republisher's list of TFs.
topicTimeout	number	2.0	Timeout parameter for the TF republisher.
serverName	string	"/tf2_web_republisher"	The name of the tf2_web_republisher server/action.
ros2	boolean	false	Use the ROS 2 action-based client (ROS2TFClient) instead of the ROS 1 service-based one (TFClient).

Returns

Transform | null — the latest transform ({ translation, rotation }), or null until the first one arrives.

Example

function BaseLinkPosition() {
  const transform = useTF({ frameId: "base_link", fixedFrame: "map" });

  if (!transform) return <p>waiting for tf…</p>;

  const { x, y, z } = transform.translation;
  return (
    <p>
      x: {x.toFixed(2)}, y: {y.toFixed(2)}, z: {z.toFixed(2)}
    </p>
  );
}

ROS 2

const transform = useTF({ frameId: "base_link", fixedFrame: "odom", ros2: true });

TIP

Each call to useTF creates its own TFClient/ROS2TFClient and tears it down on unmount. If several components in your app watch the same frame, consider the shared-atom pattern from Global State with Jotai to keep it to a single republisher subscription.