TrajectoryStates.msg

Overview

TrajectoryStates.msg reports the state of each trajectory known to Cartographer. It maps trajectory IDs to their current state via parallel arrays.

Constants

Constant	Value	Meaning
ACTIVE	0	The trajectory is actively being mapped.
FINISHED	1	The trajectory has finished mapping.
FROZEN	2	The trajectory is frozen and no longer being optimized.
DELETED	3	The trajectory has been deleted.

Fields

Field	Type	Description
header	std_msgs/Header	The standard ROS header.
trajectory_id	int32[]	The list of trajectory IDs.
trajectory_state	uint8[]	The state of each trajectory, parallel to trajectory_id and using the constants above.

Usage

• The arrays are parallel: trajectory_state[i] corresponds to trajectory_id[i].

• This message is returned by GetTrajectoryStates.srv.

• Consumers can use the state to decide whether a trajectory is ready for finalization or can be reused.