int8 UNSET = 0
int8 START_AT_FIRST_NODE = 1
int8 START_AT_GIVEN_POSE = 2
int8 LOCALIZE_AT_POSE = 3

# inital_pose should be Map -> base_frame (parameter, generally base_link)
#

string filename
int8 match_type
geometry_msgs/Pose initial_pose
---

# Result code definitions
uint8 RESULT_SUCCESS=0
uint8 RESULT_INVALID_FILENAME=1
uint8 RESULT_INVALID_PROCESSOR_TYPE=2
uint8 RESULT_FAILED_TO_READ_FILE=3
uint8 RESULT_UNDEFINED_FAILURE=255

uint8 result