text: #ifndef _ROS_rtabmap_ros_RGBDImage_h
  #define _ROS_rtabmap_ros_RGBDImage_h
  
  #include <stdint.h>
  #include <string.h>
  #include <stdlib.h>
  #include "ros/msg.h"
  #include "std_msgs/Header.h"
  #include "sensor_msgs/CameraInfo.h"
  #include "sensor_msgs/Image.h"
  #include "sensor_msgs/CompressedImage.h"
  
  namespace rtabmap_ros
  {
  
    class RGBDImage : public ros::Msg
    {
      public:
        typedef std_msgs::Header _header_type;
        _header_type header;
        typedef sensor_msgs::CameraInfo _rgbCameraInfo_type;
        _rgbCameraInfo_type rgbCameraInfo;
        typedef sensor_msgs::CameraInfo _depthCameraInfo_type;
        _depthCameraInfo_type depthCameraInfo;
        typedef sensor_msgs::Image _rgb_type;
        _rgb_type rgb;
        typedef sensor_msgs::Image _depth_type;
        _depth_type depth;
        typedef sensor_msgs::CompressedImage _rgbCompressed_type;
        _rgbCompressed_type rgbCompressed;
        typedef sensor_msgs::CompressedImage _depthCompressed_type;
        _depthCompressed_type depthCompressed;
  
      RGBDImage():
        header(),
        rgbCameraInfo(),
        depthCameraInfo(),
        rgb(),
        depth(),
        rgbCompressed(),
        depthCompressed()
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        offset += this->header.serialize(outbuffer + offset);
        offset += this->rgbCameraInfo.serialize(outbuffer + offset);
        offset += this->depthCameraInfo.serialize(outbuffer + offset);
        offset += this->rgb.serialize(outbuffer + offset);
        offset += this->depth.serialize(outbuffer + offset);
        offset += this->rgbCompressed.serialize(outbuffer + offset);
        offset += this->depthCompressed.serialize(outbuffer + offset);
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
        offset += this->header.deserialize(inbuffer + offset);
        offset += this->rgbCameraInfo.deserialize(inbuffer + offset);
        offset += this->depthCameraInfo.deserialize(inbuffer + offset);
        offset += this->rgb.deserialize(inbuffer + offset);
        offset += this->depth.deserialize(inbuffer + offset);
        offset += this->rgbCompressed.deserialize(inbuffer + offset);
        offset += this->depthCompressed.deserialize(inbuffer + offset);
       return offset;
      }
  
      const char * getType(){ return "rtabmap_ros/RGBDImage"; };
      const char * getMD5(){ return "a7fa8f34f44b976b3b2dec13c02f9f0e"; };
  
    };
  
  }
  #endif
  