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message types of topics concerning map

I am developing an android app communicating with ros, but I don't know the information about map. I have topic names but I don't know which message types should I use. I found on the Internet but failed. Here is the list of topics I need.It's better if I can know more details of those topics. 1. Move_base_simple/goal 2. nitial_pose 3. Move_base/local_costmap/inflated_obstacles 4. move_base/NavfnROS/plan 5.move_base/local_costmap/robot_footprint 6.move_base/local_costmap/obstacles Thanks a lot.