Header header

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# /map to /odom transform
# Always identity when the graph is optimized from the latest pose.
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geometry_msgs/Transform mapToOdom

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# The nodes
# std::map<nodeId, mapId>
int32[] nodeIds
int32[] mapIds
string[] labels

# std::map<nodeId, Pose>
geometry_msgs/Pose[] poses

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# The links
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Link[] links