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/stereo/raw/stereo_right.yaml

@@ -0,0 +1,34 @@
+#%YAML:1.0
+camera_name: stereo_tutorial_right
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 5.3173015723615038e+02, 0., 3.0841183762414585e+02, 0.,
+       5.3114393189729469e+02, 2.4247036103612575e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 5
+   data: [ -3.2382605112765667e-01, 4.3067676369775459e-02,
+       -1.0212741406694578e-03, 5.1816193644504472e-04,
+       9.9965184406768520e-02 ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 9.9814647006952373e-01, -6.8031680948065307e-03,
+       -6.0475955483342586e-02, 6.7037039320888168e-03,
+       9.9997582338248303e-01, -1.8474317621778344e-03,
+       6.0487061768119681e-02, 1.4385945915416094e-03,
+       9.9816794468879888e-01 ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 5.0021545003868783e+02, 0., 3.5945997238159180e+02,
+       -5.9858566522579160e+01, 0., 5.0021545003868783e+02,
+       2.4750019836425781e+02, 0., 0., 0., 1., 0. ]
+local_transform:
+   rows: 3
+   cols: 4
+   data: [ 0., 0., 1., 0., -1., 0., 0., 0., 0., -1., 0., 0. ]