rtabmap_odom tests and doc (#1456)

* rtabmap_odom tests and doc

* opengv note

* added ci checks or humble-latest flaky dep cmake errors

* Added real data tests for rgbd_odom and stereo_odom

* added real data for icp_odometry's deskewing test

* fixing json cmake error on lyrical/rolling

* test 2d icp odom deskewing branch

* first review of existing OdometryROS tests

* testing with imu used as guess

* tested imu arrivals sync

* Fixed odom reset on right pose when guess frame id is used

* fixing header errors in ci >=lyrical

* Added support for input rgbd_image topic with features for odom, added multicam rgbd_odometry test

* Added stereo odom support for features-only frames. Added multicam stereo tests.

* forcing latest rtabmap version

* updated OdometryROS API

* ci: dont build non-latest docker in pull requests

* splitting docker jobs

* doc edit

* Making publish_null_when_lost:=false continous when guess is provided (using guess covariance when we cannot register yet)

* updated stereo doc

* ficing rolling ci (rviz Ogre header)

* Added test coverage of alll rgbd_image callbacks

* fixing rolling ci

* making docker ci build/run the tests on pull requests

* fixing ros2 ci testing

* improved sync callback coverage

* improving stereo_odometry test coverage

* improved icp_odometry test coverage

* lyrical voxel_grid ptr error

* make multicam tests working as well without opengv

* removing deps of missing packages on rolling

* PCL empty cloud  conversion compiler errors fix

* fixing icp_odometry test failure on ci witohut libpointmatcher

* fixing nav2 costmap plugin build on lyrical

* joining thread when exiting

* updating icp test to work the same on pcl 1.15 (lyrical)

* Fix parallel tests seg fault

---------

Co-authored-by: mathieu86 <[email protected]>

codecov.yml

@@ -56,6 +56,10 @@ component_management:
       name: rtabmap_sync
       paths:
         - rtabmap_sync/**
+    - component_id: rtabmap_odom
+      name: rtabmap_odom
+      paths:
+        - rtabmap_odom/**
     - component_id: rtabmap_python
       name: rtabmap_python
       paths:
@@ -66,8 +70,8 @@ comment:
   behavior: default
   require_changes: true # stay quiet when coverage doesn't move
 
-# Only rtabmap_conversions, rtabmap_util, rtabmap_sync and rtabmap_python have tests
-# today, so
+# Only rtabmap_conversions, rtabmap_util, rtabmap_sync, rtabmap_odom and rtabmap_python
+# have tests today, so
 # everything else would report as 0% and drag the total down to a number that
 # says nothing. As a package gains tests, drop its line here and add it to
 # individual_components above.
@@ -77,7 +81,6 @@ ignore:
   - "rtabmap_examples/**"
   - "rtabmap_launch/**"
   - "rtabmap_msgs/**"
-  - "rtabmap_odom/**"
   - "rtabmap_rviz_plugins/**"
   - "rtabmap_slam/**"
   - "rtabmap_viz/**"