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_odom/test/data/lidar/ouster_half_turn/metadata.yaml

@@ -0,0 +1,52 @@
+rosbag2_bagfile_information:
+  compression_format: ''
+  compression_mode: ''
+  custom_data: null
+  duration:
+    nanoseconds: 5066021600
+  files:
+  - duration:
+      nanoseconds: 5066021600
+    message_count: 120
+    path: ouster_half_turn.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1613418430206475184
+  message_count: 120
+  relative_file_paths:
+  - ouster_half_turn.mcap
+  ros_distro: rosbags
+  starting_time:
+    nanoseconds_since_epoch: 1613418430206475184
+  storage_identifier: mcap
+  topics_with_message_count:
+  - message_count: 2
+    topic_metadata:
+      name: /tf_static
+      offered_qos_profiles: "- avoid_ros_namespace_conventions: false\n  deadline:
+        {nsec: 0, sec: 0}\n  depth: 10\n  durability: 1\n  history: 1\n  lifespan:
+        {nsec: 0, sec: 0}\n  liveliness: 1\n  liveliness_lease_duration: {nsec: 0,
+        sec: 0}\n  reliability: 1"
+      serialization_format: cdr
+      type: tf2_msgs/msg/TFMessage
+      type_description_hash: RIHS01_e369d0f05a23ae52508854b66f6aa0437f3449d652e8cbf22d5abe85d020f087
+  - message_count: 116
+    topic_metadata:
+      name: /tf
+      offered_qos_profiles: "- avoid_ros_namespace_conventions: false\n  deadline:
+        {nsec: 0, sec: 0}\n  depth: 10\n  durability: 2\n  history: 1\n  lifespan:
+        {nsec: 0, sec: 0}\n  liveliness: 1\n  liveliness_lease_duration: {nsec: 0,
+        sec: 0}\n  reliability: 1"
+      serialization_format: cdr
+      type: tf2_msgs/msg/TFMessage
+      type_description_hash: RIHS01_e369d0f05a23ae52508854b66f6aa0437f3449d652e8cbf22d5abe85d020f087
+  - message_count: 2
+    topic_metadata:
+      name: /os_cloud_node/points
+      offered_qos_profiles: "- avoid_ros_namespace_conventions: false\n  deadline:
+        {nsec: 0, sec: 0}\n  depth: 10\n  durability: 2\n  history: 1\n  lifespan:
+        {nsec: 0, sec: 0}\n  liveliness: 1\n  liveliness_lease_duration: {nsec: 0,
+        sec: 0}\n  reliability: 1"
+      serialization_format: cdr
+      type: sensor_msgs/msg/PointCloud2
+      type_description_hash: RIHS01_9198cabf7da3796ae6fe19c4cb3bdd3525492988c70522628af5daa124bae2b5
+  version: 8