Removed/added some log info

src/CoreWrapper.cpp

@@ -2257,11 +2257,6 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
 					req.global);
 		}
 
-		if(poses.size() && poses.size() != signatures.size())
-		{
-			NODELET_WARN("poses and signatures are not the same size!? %d vs %d", (int)poses.size(), (int)signatures.size());
-		}
-
 		ros::Time now = ros::Time::now();
 		if(mapDataPub_.getNumSubscribers())
 		{

src/MapsManager.cpp

@@ -863,6 +863,7 @@ void MapsManager::publishMaps(
 
 		if(graphGroundOptimized || graphObstacleOptimized)
 		{
+			ROS_INFO("Graph has changed, updating clouds...");
 			UTimer t;
 			cv::Mat tmpGroundPts;
 			cv::Mat tmpObstaclePts;