DownloadGraph.srv

# Download the graph from the robot which represents the navigation map
# Optional: Save it to a file
# Optional: Transform the data into a global frame and publish it to ros

string save_file_path # Absolute path to the save location. Leave empty to not save.
bool publish_data # Publish the data on ros topics
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bool success # Indicates success or failure to retrieve (and possibly save) the data
string message # Contains error messages in case of failure