TrajectoryQuery.srv

Overview

TrajectoryQuery.srv retrieves the full trajectory (a series of poses) for a given trajectory ID.

Request

Field	Type	Description
trajectory_id	int32	The trajectory to query.

Response

Field	Type	Description
status	cartographer_ros_msgs/StatusResponse	The outcome of the request; check code against StatusCode.OK.
trajectory	geometry_msgs/PoseStamped[]	The poses that make up the trajectory, each stamped with its time.

Usage

• The returned array contains the trajectory poses in order, allowing callers to reconstruct the robot’s path.

• This is useful for visualization and for downstream trajectory analysis.