StartTrajectory.srv

Overview

StartTrajectory.srv requests that a new trajectory be started on the Cartographer node using a specified configuration file. It optionally supports starting at a given initial pose relative to an existing trajectory.

Request

Field	Type	Description
configuration_directory	string	The directory containing the Cartographer configuration files.
configuration_basename	string	The basename of the configuration file to use (e.g., backpack_2d.lua).
use_initial_pose	bool	Whether to use initial_pose as the starting pose.
initial_pose	geometry_msgs/Pose	The initial pose to start from, used when use_initial_pose is true.
relative_to_trajectory_id	int32	The ID of a trajectory to which initial_pose is relative; -1 means absolute in the map frame.

Response

Field	Type	Description
status	cartographer_ros_msgs/StatusResponse	The outcome of the request; check code against StatusCode.OK.
trajectory_id	int32	The ID assigned to the newly started trajectory.

Usage

• The returned trajectory_id is used later to query, finish, or reference the trajectory.

• When use_initial_pose is false, initial_pose and relative_to_trajectory_id are ignored.