This is a reference code, not the one for the assignment.
Please refer to these codes (recoder.py, loader.py) and make your own code to 1) receive odom messages, 2) manage nodes, and 3) visualize the nodes through Rviz (e.g., by using Marker messages).
Refer to the following part to receice odometry messages.
node_recorder/scripts/recorder.py
Line 98 in 4b78b9c
Refer to the following part to visualize your nodes through Marker-type messages.
node_recorder/scripts/loader.py
Line 25 in 4b78b9c
Refer to the following part to implement your node manager as a class.
node_recorder/scripts/recorder.py
Lines 40 to 45 in 4b78b9c
Refer to the following part to implement node recording resolution.
node_recorder/scripts/recorder.py
Line 21 in 4b78b9c