The Road Not Taken

I think that the writer is talking about choosing different paths in life. Stanza 1 states that there were 2 roads and he had to pick only one road as he could not travel both and hence had difficulties choosing them. Stanza 2 states that he had chose the other road which is less worn although there is not much difference. Stanza 3 explained more on the 2 roads and said that he would come back to walk the first road but he thinks that he would not be able to do so. The last stanza was not very clear as the word "sigh" could have 2 different meanings which were sigh of relief and sigh of regret. Therefore, I am not sure if he had chosen the right road as the word "difference" in the last line would depend on the word "sigh" to see if it was positive or negative. The poem is trying to tell us that we should choose our paths carefully and sometimes the path taken by people might not be the right path.