srv/

Overview

The srv/ directory contains the 7 ROS service definitions exposed by the Cartographer ROS package. They form the control and query interface to a running Cartographer node.

Services

  • FinishTrajectory.srv — finishes a running trajectory.

  • GetTrajectoryStates.srv — retrieves the state of all trajectories.

  • ReadMetrics.srv — reads the current metric families.

  • StartTrajectory.srv — starts a new trajectory with a given configuration.

  • SubmapQuery.srv — queries the textures of a submap.

  • TrajectoryQuery.srv — retrieves the poses of a trajectory.

  • WriteState.srv — serializes the full Cartographer state to a file.

Common Response Convention

Most services return a cartographer_ros_msgs/StatusResponse with a code from StatusCode.msg and a human-readable message. Callers should check that code == StatusCode.OK before using the remaining response fields.

srv/