diff --git a/docs/source/ros_api.rst b/docs/source/ros_api.rst index 263d109..a4ddca9 100644 --- a/docs/source/ros_api.rst +++ b/docs/source/ros_api.rst @@ -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