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_python/README.md

@@ -6,6 +6,12 @@ RTAB-Map is a C++ library, and the data it hands to ROS is not always plain ROS
 
 There are no nodes here. It is an `ament_python` package that installs one importable module.
 
+## Contents
+
+- [Module](#module)
+- [Things worth knowing](#things-worth-knowing)
+- [License](#license)
+
 ## Module
 
 `rtabmap_python.cv_compression` — a single-channel `cv::Mat` to and from bytes.
@@ -34,16 +40,6 @@ The encoding is a zlib stream followed by a 12-byte trailer holding rows, cols a
 
 **The trailer is host-endian**, because the C++ side writes raw `int`s. A blob is not portable between machines of opposite endianness.
 
-## Building and testing
-
-```bash
-colcon build --packages-select rtabmap_python
-colcon test --packages-select rtabmap_python
-colcon test-result --verbose
-```
-
-The tests cover the round trip for every supported depth, the exact trailer bytes against the codes RTAB-Map's `serializeMatType()` produces, and each of the behaviours above. Alongside them, the standard `ament_copyright`, `ament_flake8` and `ament_pep257` linters run over the package.
-
 ## License
 
 BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).