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FrameTransform: possibile server-client configurations
+ Collaboration diagram for FrameTransform: possibile server-client configurations:


FrameTransformServer and FrameTransformClient configurations can be coupled in different ways. In order to facilitate the use of these new devices, here is a complete list of the allowed combinations.

fts_full_ros compatible configurations

In the following configurations the communication with ROS is managed by the server. These configurations are particularly useful when all the clients that are going to connect to the server need to have access to the transform published on ROS topics

fts_yarp_only compatible configurations

In the following configurations the the server will only manage YARP communications. These configurations are to be used if you don't need transforms coming from ROS or when the ROS communication is available only on through a client machine

Peculiar client to client configuration