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

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Co-authored-by: mathieu86 <[email protected]>

rtabmap_util/doc/lidar_deskewing.md

@@ -6,6 +6,17 @@ A spinning lidar takes tens of milliseconds to complete a sweep, and on a moving
 
 This node uses TF to find where the sensor actually was when each point was taken, and moves every point into the pose at the start of the sweep. A straight wall comes back straight.
 
+## Contents
+
+- [Usage](#usage)
+- [Subscribed Topics](#subscribed-topics)
+- [Published Topics](#published-topics)
+- [Required Transforms](#required-transforms)
+- [Parameters](#parameters)
+- [Requirements](#requirements)
+- [Behavior when TF is missing](#behavior-when-tf-is-missing)
+- [Notes](#notes)
+
 ## Usage
 
 ```bash