FinishTrajectory.srv

Overview

FinishTrajectory.srv requests that a running trajectory be finished. Once finished, the trajectory is no longer actively mapped.

Request

Field	Type	Description
trajectory_id	int32	The ID of the trajectory to finish.

Response

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

Usage

• The trajectory ID is typically obtained from StartTrajectory.srv or GetTrajectoryStates.srv.

• A common workflow is to start a trajectory, let it map for a while, finish it, and then write the state.