# TrajectoryQuery.srv

## Overview

`TrajectoryQuery.srv` retrieves the full trajectory (a series of poses) for a given trajectory ID.

## Request

| Field | Type | Description |
| --- | --- | --- |
| `trajectory_id` | `int32` | The trajectory to query. |

## Response

| Field | Type | Description |
| --- | --- | --- |
| `status` | `cartographer_ros_msgs/StatusResponse` | The outcome of the request; check `code` against `StatusCode.OK`. |
| `trajectory` | `geometry_msgs/PoseStamped[]` | The poses that make up the trajectory, each stamped with its time. |

## Usage

- The returned array contains the trajectory poses in order, allowing callers to reconstruct the robot's path.
- This is useful for visualization and for downstream trajectory analysis.