From d0871210e7da35756f1a5e5e67a6222642bd0d19 Mon Sep 17 00:00:00 2001 From: Michael Grupp Date: Tue, 6 Nov 2018 06:26:05 +0100 Subject: [PATCH] Update /write_state call in assets writer docs. (#1087) * Update /write_state call in assets writer docs. Follow-up to #966 Closes #1086 * typo * bump googlebot --- docs/source/assets_writer.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/source/assets_writer.rst b/docs/source/assets_writer.rst index 5c12ab0..cf5a4da 100644 --- a/docs/source/assets_writer.rst +++ b/docs/source/assets_writer.rst @@ -59,8 +59,10 @@ When running as an online node, Cartographer doesn't know when your bag (or sens # Finish the first trajectory. No further data will be accepted on it. rosservice call /finish_trajectory 0 - rosservice call /write_state ${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream + # Ask Cartographer to serialize its current state. + # (press tab to quickly expand the parameter syntax) + rosservice call /write_state "{filename: '${HOME}/Downloads/b3-2016-04-05-14-14-00.bag.pbstream', include_unfinished_submaps: 'true'}" Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack: