Fileds
std_msgs/Header header
EdgeSE2[] edges
float32[] edge_weights
VertexSE2[] vertices 2D Pose Graph
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.
Robustified Pose Graph
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.
