std_msgs/Header header
EdgeSE2[] edges
float32[] edge_weights
VertexSE2[] vertices
A 2d pose graph can be visualized by publishing GraphSE2
message.
header, edges, vertices
are always required for visualization.
But edge_weights
is optional and should be left empty.
It is required only when the graph is robustified.
A robustified pose graph can be visualized by setting edge_weights
field.
Each i-th edge_weights
must map into i-th edges
in GraphSE2
message.
Each edge_weights
field must have a value between 0.0f~1.0f.
- 0.0f means the edge has no influence in graph optimization.
- 1.0f means the edge influnces the graph as much as possible.
Fully unweighted edges are greyed out.