# FinishTrajectory.srv

## Overview

`FinishTrajectory.srv` requests that a running trajectory be finished. Once finished, the trajectory is no longer actively mapped.

## Request

| Field | Type | Description |
| --- | --- | --- |
| `trajectory_id` | `int32` | The ID of the trajectory to finish. |

## Response

| Field | Type | Description |
| --- | --- | --- |
| `status` | `cartographer_ros_msgs/StatusResponse` | The outcome of the request; check `code` against `StatusCode.OK`. |

## Usage

- The trajectory ID is typically obtained from `StartTrajectory.srv` or `GetTrajectoryStates.srv`.
- A common workflow is to start a trajectory, let it map for a while, finish it, and then write the state.