From 9ccdfce2e4cd7ccf852ae504681df999799fb6b4 Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Wed, 21 Dec 2016 18:52:54 +0100 Subject: [PATCH] Improve the documentation of finish_trajectory. (#240) Fixes #211. --- docs/source/ros_api.rst | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/source/ros_api.rst b/docs/source/ros_api.rst index 387074d..0df520c 100644 --- a/docs/source/ros_api.rst +++ b/docs/source/ros_api.rst @@ -90,8 +90,9 @@ submap_query (`cartographer_ros_msgs/SubmapQuery`_) finish_trajectory (`cartographer_ros_msgs/FinishTrajectory`_) Finishes the current trajectory by flushing all queued sensor data, running a - final optimization, and writing the map to disk. Currently, this also - triggers shutdown. + final optimization, and writing artifacts (e.g. the map) to disk. The `stem` + argument is used as a prefix for the various files which are written. Files + will usually end up in `~/.ros` or `ROS_HOME` if it is set. Required tf Transforms ======================