# WriteState.srv

## Overview

`WriteState.srv` requests that the Cartographer node serialize its full state to a file. This is used to persist a completed map for later reuse.

## Request

| Field | Type | Description |
| --- | --- | --- |
| `filename` | `string` | The path of the file to write the state to. |
| `include_unfinished_submaps` | `bool` | Whether to include submaps that are still being mapped. |

## Response

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

## Usage

- A typical workflow finishes all trajectories first, then calls this service with `include_unfinished_submaps` set to false.
- The written file can be reused to initialize subsequent mapping sessions.