How is GraphView panel different than the published Map topics?

[mvrius]

In RVIZ if I enable the View "Graph View", I get a Map equivalent which seems to me much better than what is being published on any of the *map topics.

How is the Graph View different, and can I essentially reproduce the same graph view as a map topic?

Thanks!

[matlabbe]

I think you are referring to Graph View panel in rtabmap_viz, not RVIZ. The occupancy grid should be the same than the /map,/grid_map topic published by rtabmap node. Rviz should be able to show that map topic with same color. For the graph, we can show a similar graph with rtabmap_rviz_plugins/MapGraph plugin in rviz.

[mvrius]

@matlabbe You are correct, I am referring to the Graph View panel in rtabmap_viz.

In my use case, the visualization presented there looks like a way more accurate map than what is in /map or /grid_map.

That's why I was asking what is being displayed there, because I would like to use that as a map, if possible, since it's seems to be accurate wrt how my space looks like, whereas the other published maps don't have clearly defined edges.

[matlabbe]

Can you show a screenshot comparing each other? I am not sure to understand the differences as they should be identical.