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Update ROS API documentation with description of changed/new services (#1282)

master
mgladkova 2019-07-09 14:10:58 +02:00 committed by Christoph Schütte
parent 92a8b81a84
commit 20c2c8f0f7
1 changed files with 6 additions and 3 deletions
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docs/source/ros_api.rst
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@ -94,9 +94,11 @@ submap_query (`cartographer_ros_msgs/SubmapQuery`_)
Fetches the requested submap.
start_trajectory (`cartographer_ros_msgs/StartTrajectory`_)
Starts another trajectory by specifying its sensor topics and trajectory
options as an binary-encoded proto. Returns an assigned trajectory ID.
The ``start_trajectory`` executable provides a convenient wrapper to use this service.
Starts a trajectory using default sensor topics and the provided configuration.
An initial pose can be optionally specified. Returns an assigned trajectory ID.
trajectory_query (`cartographer_ros_msgs/TrajectoryQuery`_)
Returns the trajectory data from the pose graph.
finish_trajectory (`cartographer_ros_msgs/FinishTrajectory`_)
Finishes the given `trajectory_id`'s trajectory by running a final optimization.
@ -141,6 +143,7 @@ If *provide_odom_frame* is enabled in the :doc:`configuration`, a continuous
.. _cartographer_ros_msgs/SubmapList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
.. _cartographer_ros_msgs/SubmapQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
.. _cartographer_ros_msgs/StartTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv
.. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv
.. _cartographer_ros_msgs/WriteState: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv
.. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv
.. _cartographer_ros_msgs/ReadMetrics: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv