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/pointcloud_to_depthimage.md

@@ -9,6 +9,17 @@ Two typical setups:
 * **Lidar + one or more RGB cameras.** The natural way to feed a lidar into an RGB-D SLAM setup: the lidar supplies the geometry, the cameras the appearance. Run one instance per camera, each subscribing to the same cloud but to that camera's `camera_info`; a 3D lidar usually covers all of them at once. The resulting RGB-D streams can then be combined with [rtabmap_sync](https://docs.ros.org/en/jazzy/p/rtabmap_sync/)'s `rgbd_sync`/`rgbdx_sync` and given to RTAB-Map through its `rgbd_cameras` parameter.
 * **ToF camera + RGB camera, not synchronized.** Two separate sensors, each with its own clock and its own pose, so their frames line up neither in time nor in space. Projecting the ToF cloud into the RGB camera registers the depth to the color image, and setting `fixed_frame_id` to a high-rate odometry frame — VIO, or an IMU-driven odometry running well above the camera rate — compensates the motion between the two stamps at the same time. See [Motion compensation](#motion-compensation).
 
+## Contents
+
+- [Usage](#usage)
+- [Subscribed Topics](#subscribed-topics)
+- [Published Topics](#published-topics)
+- [Required Transforms](#required-transforms)
+- [Parameters](#parameters)
+- [Motion compensation](#motion-compensation)
+- [Hole filling](#hole-filling)
+- [Notes](#notes)
+
 ## Usage
 
 ```bash