First version rtabmap_launch working

rtabmap_msgs/msg/NodeData.msg

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+
+int32 id
+int32 mapId
+int32 weight
+float64 stamp
+string label
+
+# Pose from odometry not corrected
+geometry_msgs/Pose pose
+
+# Ground truth (optional)
+geometry_msgs/Pose groundTruthPose
+
+# GPS (optional)
+GPS gps
+
+# compressed image in /camera_link frame
+# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+uint8[] image
+
+# compressed depth image in /camera_link frame
+# use rtabmap::util3d::uncompressImage() from "rtabmap/core/util3d.h"
+uint8[] depth
+
+# Camera models
+float32[] fx
+float32[] fy
+float32[] cx
+float32[] cy
+float32[] width
+float32[] height
+float32[] baseline
+# local transform (/base_link -> /camera_link)
+geometry_msgs/Transform[] localTransform
+
+# compressed 2D or 3D laser scan
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] laserScan
+int32 laserScanMaxPts
+float32 laserScanMaxRange
+int32 laserScanFormat
+# local transform (/base_link -> /base_laser)
+geometry_msgs/Transform laserScanLocalTransform
+
+# compressed user data
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] userData
+
+# compressed occupancy grid
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] grid_ground
+uint8[] grid_obstacles
+uint8[] grid_empty_cells
+float32 grid_cell_size
+Point3f grid_view_point
+
+# std::multimap<wordId, index>
+# std::vector<cv::Keypoint>
+# std::vector<cv::Point3f>
+int32[] wordIdKeys
+int32[] wordIdValues
+KeyPoint[] wordKpts
+Point3f[] wordPts
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] wordDescriptors
+
+GlobalDescriptor[] globalDescriptors
+
+EnvSensor[] env_sensors