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@ -90,8 +90,9 @@ submap_query (`cartographer_ros_msgs/SubmapQuery`_)
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finish_trajectory (`cartographer_ros_msgs/FinishTrajectory`_)
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Finishes the current trajectory by flushing all queued sensor data, running a
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final optimization, and writing the map to disk. Currently, this also
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triggers shutdown.
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final optimization, and writing artifacts (e.g. the map) to disk. The `stem`
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argument is used as a prefix for the various files which are written. Files
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will usually end up in `~/.ros` or `ROS_HOME` if it is set.
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Required tf Transforms
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======================
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