Visualize inter and intra constraint (like cartographer_ros) localization nodes and edges with different colors in the pose graph marker message.

[suryakanths]

---

Basic Info

Info	Visualize inter and intra constraint (like cartographer_ros) localization nodes and edges with different colors in the pose graph marker message.
Ticket(s) this addresses
Primary OS tested on	Ubuntu 18.04
Robotic platform tested on	industrial AMR on an 80 m * 40m map

---

Description of contribution in a few bullet points

Inter and intra constrains are split with respective name space and colors for mappping and localization

• Intra constraints where edges are connected to same graph on consecutive nodes

• inter constraints where edges are connected to a different graph or non consecutive nodes

Edge marker color	Description
Red	Intra constraint edge in mapping between 2 consecutive nodes
Blue	Inter constraint edge in mapping between 2 non consecutive nodes
Yellow	Intra constraint edge in localization between 2 consecutive nodes
Cyan	Inter constraint edge in localization between a localization node and mapped node
Purple	Inter constraint edge in localization between 2 non consecutive nodes

Node marker color	Description
Red	Mapping nodes
Black	Localization nodes

rom 2022-11-11 17-02-00.png…]()

#Visualize slam nodes and localization edges in different namespace

• Mapping edge constraints

• Localization edge constraints

Description of documentation updates required from your changes

• Separated the nodes into slam and localization names spaces

• Edges are separated as inter and intra for localization and mapping namespace

---

Future work that may be required in bullet points

[SteveMacenski]

Revert all unnecessary code reformatting before this can be reviewed.

[SteveMacenski]

Still a bit more from the diff -- this is to make this readable for me to do a review

[suryakanths]

i have removed all the unwanted changes please check now.