WriteState.srv

Overview

WriteState.srv requests that the Cartographer node serialize its full state to a file. This is used to persist a completed map for later reuse.

Request

Field	Type	Description
filename	string	The path of the file to write the state to.
include_unfinished_submaps	bool	Whether to include submaps that are still being mapped.

Response

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

Usage

• A typical workflow finishes all trajectories first, then calls this service with include_unfinished_submaps set to false.

• The written file can be reused to initialize subsequent mapping sessions.