#request

# In mapping mode (Mem/IncrementalMemory=true), if target pose 
#   and node_id are all zeros, poses around the latest node 
#   in the graph are returned.
# In localization mode (Mem/IncrementalMemory=false), if target pose 
#   and node_id are all zeros, poses around the latest localization 
#   pose are returned.
# If node_id is not zero, target pose is ignored.

# Node id
int32 node_id

# Target pose:
float32 x
float32 y
float32 z

# Radius, <=0 means that RGBD/LocalRadius will be used 
# if k is also 0. If k>0 and a radius of 0 means all nearest 
# poses up to k.
float32 radius

# Maximum number of nearest poses
int32 k

---
#response
int32[] ids
geometry_msgs/Pose[] poses
float32[] dists_sqr