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_sync/README.md

@@ -6,6 +6,14 @@ A SLAM node needs a camera's color image, its depth image and its calibration as
 
 Every node is a [composable node](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Composition.html) as well as a standalone executable. **Compose these into the camera driver's process where you can**: they copy every pixel of every frame, and across a process boundary that copy is a serialization plus a memcpy per image.
 
+## Contents
+
+- [Nodes](#nodes)
+- [Library](#library)
+- [Conventions](#conventions)
+- [Build options](#build-options)
+- [License](#license)
+
 ## Nodes
 
 One page per node.
@@ -62,16 +70,6 @@ For several cameras, **prefer turning `RTABMAP_SYNC_MULTI_RGBD` on**. The consum
 
 Without the options, asking for either is refused rather than ignored quietly — `subscribe_user_data` is reset to false with an error, and `rgbd_cameras` > 1 leaves nothing subscribed and says so.
 
-## Building and testing
-
-```bash
-colcon build --packages-select rtabmap_sync
-colcon test --packages-select rtabmap_sync
-colcon test-result --verbose
-```
-
-The tests drive each node over real ROS topics inside the gtest binary — no launch files and no separate processes — so they also serve as worked examples of each node's topics and parameters.
-
 ## License
 
 BSD-3-Clause. See the [repository root](https://github.com/introlab/rtabmap_ros#license).