added graph state msg back for backwards compatability

communications/ff_msgs/msg/GraphState.msg

@@ -0,0 +1,52 @@
+# Copyright (c) 2017, United States Government, as represented by the
+# Administrator of the National Aeronautics and Space Administration.
+#
+# All rights reserved.
+#
+# The Astrobee platform is licensed under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with the
+# License. You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+#
+
+# Deprecated, kept for backwards compatability
+std_msgs/Header header # header with timestamp
+string child_frame_id # frame ID
+# State Estimates
+geometry_msgs/Pose pose # world_T_body 
+geometry_msgs/Vector3 velocity # body velocity
+geometry_msgs/Vector3 gyro_bias # estimated gyro bias
+geometry_msgs/Vector3 accel_bias # estimated accel bias
+# Covariances/Confidences
+# covariance diagonal. 1-3 orientation, 4-6 gyro bias, 7-9 velocity, 10-12 accel bias, 13-15 position
+float32[15] cov_diag
+# confidence in estimate. 0 is good, 1 is a bit confused, 2 is lost
+uint8 confidence
+uint8 CONFIDENCE_GOOD = 0	# Tracking well
+uint8 CONFIDENCE_POOR = 1	# Tracking poorly
+uint8 CONFIDENCE_LOST = 2	# We are lost
+# Stats
+uint32 num_detected_of_features  
+uint32 num_detected_ar_features 
+uint32 num_detected_ml_features 
+uint32 iterations # Optimization iterations
+float32 optimization_time
+float32 update_time # Include optimization_time and other operations to add data to graph
+float32 callbacks_time # Includes processing msgs and their callbacks
+float32 nodelet_runtime # Total runtime of nodelet iteration.  Includes update and callback time
+uint32 num_factors
+uint32 num_of_factors
+uint32 num_ml_projection_factors
+uint32 num_ml_pose_factors
+uint32 num_states
+# Status
+bool standstill
+bool estimating_bias # Are we busy estimating the bias?
+uint8 fan_speed_mode # Used for imu filtering