SubmapQuery.srv

Overview

SubmapQuery.srv queries a single submap for its texture data. It returns the current version of the submap and an array of textures that can be rendered.

Request

Field	Type	Description
trajectory_id	int32	The trajectory that the submap belongs to.
submap_index	int32	The index of the submap within the trajectory.

Response

Field	Type	Description
status	cartographer_ros_msgs/StatusResponse	The outcome of the request; check code against StatusCode.OK.
submap_version	int32	The current version of the submap.
textures	cartographer_ros_msgs/SubmapTexture[]	The texture slices of the submap.

Usage

• The pair (trajectory_id, submap_index) uniquely identifies a submap.

• Consumers can cache the last seen submap_version and skip re-fetching when it has not changed.

• Each texture in textures follows the SubmapTexture.msg layout.