Added MapGraph message to avoid MapGraphDisplay to subscribe to MapData (which can contain node data not used by MapGraphDisplay, that also limit the bandwidth used when MapCloudDisplay and MapGraphDisplay are added to RVIZ)

src/rviz/MapGraphDisplay.h

@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef MAP_GRAPH_DISPLAY_H
 #define MAP_GRAPH_DISPLAY_H
 
-#include <rtabmap_ros/MapData.h>
+#include <rtabmap_ros/MapGraph.h>
 
 #include <rviz/message_filter_display.h>
 
@@ -51,9 +51,9 @@ namespace rtabmap_ros
 
 /**
  * \class MapGraphDisplay
- * \brief Displays the graph in rtabmap::MapData message
+ * \brief Displays the graph of rtabmap::MapGraph message
  */
-class MapGraphDisplay: public MessageFilterDisplay<rtabmap_ros::MapData>
+class MapGraphDisplay: public MessageFilterDisplay<rtabmap_ros::MapGraph>
 {
 Q_OBJECT
 public:
@@ -68,7 +68,7 @@ protected:
   virtual void onInitialize();
 
   /** @brief Overridden from MessageFilterDisplay. */
-  void processMessage( const rtabmap_ros::MapData::ConstPtr& msg );
+  void processMessage( const rtabmap_ros::MapGraph::ConstPtr& msg );
 
 private:
   void destroyObjects();