message: Updated to not use deprecated get3DMap().
diff: @@ -2705,24 +2705,16 @@ bool CoreWrapper::getMapDataCallback(rtabmap_ros::GetMap::Request& req, rtabmap_
  std::map<int, Transform> poses;
  std::multimap<int, rtabmap::Link> constraints;
  - if(req.graphOnly)
  - {
  rtabmap_.getGraph(
  poses,
  constraints,
  req.optimized,
  req.global,
  - &signatures);
  - }
  - else
  - {
  - rtabmap_.get3DMap(
  - signatures,
  - poses,
  - constraints,
  - req.optimized,
  - req.global);
  - }
  + &signatures,
  + !req.graphOnly,
  + !req.graphOnly,
  + !req.graphOnly,
  + !req.graphOnly);
  //RGB-D SLAM data
  rtabmap_ros::mapDataToROS(poses,
  @@ -2839,24 +2831,16 @@ bool CoreWrapper::publishMapCallback(rtabmap_ros::PublishMap::Request& req, rtab
  std::multimap<int, rtabmap::Link> constraints;
  std::map<int, Signature > signatures;
  - if(req.graphOnly)
  - {
  rtabmap_.getGraph(
  poses,
  constraints,
  req.optimized,
  req.global,
  - &signatures);
  - }
  - else
  - {
  - rtabmap_.get3DMap(
  - signatures,
  - poses,
  - constraints,
  - req.optimized,
  - req.global);
  - }
  + &signatures,
  + !req.graphOnly,
  + !req.graphOnly,
  + !req.graphOnly,
  + !req.graphOnly);
  ros::Time now = ros::Time::now();
  if(mapDataPub_.getNumSubscribers())
  