SubmapEntry.msg¶

Overview¶

SubmapEntry.msg describes a single submap in the map, including its trajectory, index, version, and pose, as well as whether it is frozen.

Field	Type	Description
`trajectory_id`	`int32`	The trajectory that this submap belongs to.
`submap_index`	`int32`	The index of the submap within its trajectory.
`submap_version`	`int32`	The version of the submap; changes when the submap is updated.
`pose`	`geometry_msgs/Pose`	The pose of the submap in the map frame.
`is_frozen`	`bool`	Whether the submap is frozen (immutable).

A submap is uniquely identified by the pair (trajectory_id, submap_index).
submap_version increases as the submap is refined during SLAM; consumers can use it to detect updated submaps.
Frozen submaps are no longer modified and are typically candidates for map pruning.
SubmapEntry instances are collected in the submap array of SubmapList.msg.