First version rtabmap_launch working

rtabmap_msgs/msg/Info.msg

@@ -0,0 +1,50 @@
+
+########################################
+# RTAB-Map info with statistics 
+########################################
+
+Header header
+
+int32 refId
+int32 loopClosureId
+int32 proximityDetectionId
+int32 landmarkId
+
+geometry_msgs/Transform loopClosureTransform
+
+####
+# For statistics...
+####
+# State (node IDs) of the current Working Memory (including STM)
+int32[] wmState
+
+# std::map<int, float> posterior;
+int32[] posteriorKeys
+float32[] posteriorValues
+
+# std::map<int, float> likelihood;
+int32[] likelihoodKeys
+float32[] likelihoodValues
+
+# std::map<int, float> rawLikelihood;
+int32[] rawLikelihoodKeys
+float32[] rawLikelihoodValues
+
+# std::map<int, int> weights;
+int32[] weightsKeys
+int32[] weightsValues
+
+# std::map<int, std::string> labels;
+int32[] labelsKeys
+string[] labelsValues
+
+# std::map<std::string, float> stats
+string[] statsKeys
+float32[] statsValues
+
+# std::vector<int> localPath
+int32[] localPath
+int32 currentGoalId
+
+# std::vector<int> odomCache
+MapGraph odom_cache