SubmapList.msg

Overview

SubmapList.msg is a timestamped list of the submaps currently known to Cartographer. It is published periodically so that visualization and other consumers can track the state of the map.

Fields

Field	Type	Description
header	std_msgs/Header	The standard ROS header.
submap	cartographer_ros_msgs/SubmapEntry[]	The array of submap entries.

Usage

• The header.frame_id is typically the map frame.

• Each element of submap follows the SubmapEntry.msg layout.

• Consumers compare (trajectory_id, submap_index, submap_version) triples between consecutive messages to detect new or updated submaps.