Timestamped vertices as ROS topic

[phausamann]

Hi,

first of all a big thank you for creating this versatile framework!

I'm wondering whether it's possible to publish a ROS topic with all vertices and the associated timestamps (the same way as in vertices.csv) from the maplab console. Basically, the same data as the /vi_map_vertices topic, but with the header.stamp of each Marker set to the original timestamp.

If this is not possible without modifying the source, where in the code would I need to make the modifications? Skimming over the codebase, it seems that this is where the timestamp for the published markers is set, is that correct? https://github.com/ethz-asl/maplab/blob/618a0e0154d0c6e6cd84b5ac827140b5a9b84cb0/visualization/src/common-rviz-visualization.cc#L356

[mfehr]

That looks correct, you will need to add some code to do this, as a reference you can either look into the visualization or any other part of the code that traverses the pose-graph to do sth. Another example is the csv export that you mentioned.