Updated ros-pkg with new rtabmap messages including retrieved data

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1059 f169173b-cf89-36c8-b27e-44dbe73f0c83

rtabmap/msg/InfoEx.msg

@@ -6,21 +6,18 @@
 Header header
 
 int32 refId
-int32 refMapId
 int32 loopClosureId
-int32 loopClosureMapId
 int32 localLoopClosureId
-int32 localLoopClosureMapId
 
-# std::map<int, Poses> poses;
-int32[] nodeIds
-geometry_msgs/Pose[] nodePoses
+# The map data (rgb, depth, depthConstant, depth2D, localTransform, poses, map ids, mapCorrection)
+rtabmap/MapData data
 
-geometry_msgs/Transform mapCorrection
 geometry_msgs/Transform loopClosureTransform
-
 geometry_msgs/Pose currentPose
 
+####
+# For statistics and visualization below...
+####
 # std::map<int, float> posterior;
 int32[] posteriorKeys
 float32[] posteriorValues
@@ -41,29 +38,6 @@ int32[] weightsValues
 string[] statsKeys
 float32[] statsValues
 
-#compressed image
-# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
-uint8[] refImage
-uint8[] loopImage
-
-#compressed depth
-# use rtabmap::util3d::uncompressImage() from <rtabmap/core/util3d.h>
-uint8[] refDepth
-uint8[] loopDepth
-
-#compressed depth2d
-# use rtabmap::util3d::uncompressData() from <rtabmap/core/util3d.h>
-uint8[] refDepth2D
-uint8[] loopDepth2D
-
-#camera info
-float32 refDepthConstant
-float32 loopDepthConstant
-
-#local transform
-geometry_msgs/Transform refLocalTransform
-geometry_msgs/Transform loopLocalTransform
-
 #
 # For features2d : std::multimap<int, cv::Keypoint> words
 #