2013-12-11 00:12:44 +00:00
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Header header
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2014-10-26 21:49:30 +00:00
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##################
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# Graph stuff
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##################
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2014-01-08 16:11:44 +00:00
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2014-10-26 21:49:30 +00:00
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# /map to /odom transform
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# Always identity when the graph is optimized from the latest pose.
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geometry_msgs/Transform mapToOdom
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2013-12-11 00:12:44 +00:00
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2014-02-11 23:08:37 +00:00
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# std::map<int, Pose> poses;
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2013-12-11 00:12:44 +00:00
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int32[] poseIDs
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geometry_msgs/Pose[] poses
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2014-02-11 23:08:37 +00:00
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# std::multimap<int, Link> constraints;
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int32[] constraintFromIDs
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int32[] constraintToIDs
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int32[] constraintTypes
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geometry_msgs/Transform[] constraints
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2014-10-26 21:49:30 +00:00
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# Map ids std::map<nodeId, mapId>
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int32[] mapIDs
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int32[] maps
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##################
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# Point cloud stuff
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##################
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NodeData[] nodes
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