Simplified topics between ros nodes

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@461 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/RtabmapInfo.msg

@@ -1,8 +1,10 @@
-#
-#
-#
-#
-#
+
+########################################
+# If a loop is found with the current image ("refId"), 
+# "loopClosureId" is not null. Field "actuators" contains 
+# (when actions are used) actions executed after the 
+# "loopClosureId".
+########################################
 
 Header header
 
@@ -10,4 +12,6 @@ int32 refId
 int32 loopClosureId
 
 uint32 actuatorStep
-float32[] actuators
+float32[] actuators
+
+rtabmap/RtabmapInfoEx infoEx

rtabmap/msg/RtabmapInfoEx.msg

@@ -1,13 +1,12 @@
-#
-#
-#
-#
-#
+
+########################################
+# Statistics stuff: 
+# These fields are empty if RTAb-Map's 
+# parameter publishStats=false
+########################################
 
 Header header
 
-rtabmap/RtabmapInfo info
-
 sensor_msgs/CompressedImage refImage
 int32 refChild
 
@@ -40,4 +39,5 @@ rtabmap/KeyPoint[] loopWordsValues
 
 ##SM masks##
 uint8[] refMotionMask
-uint8[] loopMotionMask
+uint8[] loopMotionMask
+