# How to save full trajectory?

**URL:** <https://forums.developer.nvidia.com/t/how-to-save-full-trajectory/355454>\
**Category:** Isaac ROS\
**Tags:** isaac-ros-vslam\
**Created:** [December 22, 2025, 3:54pm UTC](https://forums.developer.nvidia.com/t/how-to-save-full-trajectory/355454 "2025-12-22T15:54:15Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![nic2021](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@nic2021](https://forums.developer.nvidia.com/u/nic2021)\
**Post date:** [December 22, 2025, 3:54pm UTC](https://forums.developer.nvidia.com/t/how-to-save-full-trajectory/355454/1 "2025-12-22T15:54:15Z")

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Hey everyone,

I’m trying to run Isaac ROS Visual SLAM on recorded bagfiles and now wondering how to get the full trajectory (with loop closing) in a .txt file (tum Format)?

I think it is in /visual\_slam/tracking/slam\_path but it seems like there is not the whole trajectory?

Is there an efficient way to save it?

Thanks!

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**Author:** ![vchuang](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/vchuang/32/436710_2.png) [@vchuang](https://forums.developer.nvidia.com/u/vchuang)\
**Post date:** [December 23, 2025, 6:25am UTC](https://forums.developer.nvidia.com/t/how-to-save-full-trajectory/355454/2 "2025-12-23T06:25:39Z")

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Hello @nic2021,

Thanks for posting in the Isaac ROS forum!

If you would like to save the full trajectory, you can use `/visual_slam/get_all_poses` service, please refer [here](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_visual_slam/isaac_ros_visual_slam/index.html#ros-services-advertised) for more information.

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<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [January 6, 2026, 6:26am UTC](https://forums.developer.nvidia.com/t/how-to-save-full-trajectory/355454/3 "2026-01-06T06:26:36Z")

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