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_util/doc/imu_to_tf.md

@@ -2,10 +2,24 @@
 
 Broadcasts the orientation of an IMU as a TF transform.
 
-The node subscribes to a `sensor_msgs/msg/Imu` topic, takes the `orientation` field and broadcasts it on `/tf` as the rotation of `fixed_frame_id` → the IMU frame. Set `base_frame_id` and that frame becomes the child instead, with the orientation re-expressed in it from the IMU's mounting, so the transform says how the *robot* is oriented rather than how the sensor is. Either way `fixed_frame_id` is the parent, and nothing else of the message is used: the transform's translation is always zero, and the angular velocity and linear acceleration are ignored.
+The node subscribes to a [`sensor_msgs/msg/Imu`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Imu.html) topic, takes the `orientation` field and broadcasts it on `/tf` as the rotation of `fixed_frame_id` → the IMU frame. Set `base_frame_id` and that frame becomes the child instead, with the orientation re-expressed in it from the IMU's mounting, so the transform says how the *robot* is oriented rather than how the sensor is. Either way `fixed_frame_id` is the parent, and nothing else of the message is used: the transform's translation is always zero, and the angular velocity and linear acceleration are ignored.
 
 It exists so that a consumer that needs an oriented frame — a lidar deskewing node, a point cloud assembler, RViz — can get one from an IMU alone, without running odometry.
 
+## Contents
+
+- [Usage](#usage)
+  - [When the IMU has no orientation](#when-the-imu-has-no-orientation)
+  - [A stabilized frame for lidar deskewing and odometry](#a-stabilized-frame-for-lidar-deskewing-and-odometry)
+  - [A rotation guess for visual odometry](#a-rotation-guess-for-visual-odometry)
+- [Subscribed Topics](#subscribed-topics)
+- [Published Topics](#published-topics)
+- [Published Transforms](#published-transforms)
+- [Required Transforms](#required-transforms)
+- [Parameters](#parameters)
+- [Mounting offset](#mounting-offset)
+- [Notes](#notes)
+
 ## Usage
 
 As a standalone node: