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]>

rtabmap_conversions/README.md

@@ -6,6 +6,13 @@ This package is a library only — it contains no nodes, no launch files and no
 
 You only need it directly if you are writing your own node against RTAB-Map's C++ API and want to publish or subscribe to `rtabmap_msgs`.
 
+## Contents
+
+- [Usage](#usage)
+- [What it covers](#what-it-covers)
+- [Conventions worth knowing](#conventions-worth-knowing)
+- [License](#license)
+
 ## Usage
 
 Add the dependency to your `package.xml` and `CMakeLists.txt`:
@@ -56,14 +63,6 @@ These cut across the whole API and are not obvious from the signatures. Per-func
 
 **`CameraInfo` matrices are fixed-size arrays.** `k`, `r` and `p` are `std::array`, so they are never "empty" — an unset matrix is all zeros. `cameraModelFromROS()` treats a zero `k[0]`/`p[0]` (the focal length) as absent.
 
-## Building and testing
-
-```bash
-colcon build --packages-select rtabmap_conversions
-colcon test --packages-select rtabmap_conversions
-colcon test-result --verbose
-```
-
 ## License
 
 BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).