>> The current implementation does not support this very easily. The
>> upcoming version however will have good support for this type of
>> setup. Basically instead of having a 'database' for each consumer of
>> the data, it will be possible to share a database between multiple
>> consumers. and if you want, you can only create a single database that
>> is used by all consumers.
>
> What will be the exact definition of a "database"?

A database is a place where you store the state of a scene (robot +
world + ...).  This state could be limited to the current state, or it
could be a time history of the state. Currently in tf every consumer
of scene state information builds its own database.  With the next
version of tf, it will be possible to share such a state database
between different consumers.

Wim


--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)