Far planner代码系列（2）

graph_decoder系列（2）

        承接上文 我们接着来看decoder_node.cpp的代码部分

void GraphDecoder::Init() {
    /* initialize subscriber and publisher */
    //graph_sub_ 订阅节点/robot_vgraph    其类型是visibility_graph_msg/Graph的消息
    graph_sub_     = nh.subscribe("/robot_vgraph", 5, &GraphDecoder::GraphCallBack, this);
    graph_pub_     = nh.advertise<visibility_graph_msg::Graph>("decoded_vgraph", 5);
    graph_viz_pub_ = nh.advertise<MarkerArray>("/graph_decoder_viz",5);

    this->LoadParmas();
    save_graph_sub_ = nh.subscribe("/save_file_dir", 5, &GraphDecoder::SaveGraphCallBack, this);
    read_graph_sub_ = nh.subscribe("