The map manager can load in a topological map from a tmap file.

[adambinch]

(as well as mongodb). To do this use the -f arg: rosrun topological_navigation map_manager.py -f path/to/tmap/tmap.tmap.

Also includes a map sanity checking function. Takes a topological map from a strands_navigation_msgs.msg.TopologicalMap message and checks:

• if all nodes have the same pointset
• for duplicate node names
• for duplicate edges
• that an edge's destination node exists

[adambinch]

Going to add some map checking stuff to this so WIP for now

[Jailander]

retest this please