First version rtabmap_launch working

rtabmap_msgs/msg/OdomInfo.msg

@@ -0,0 +1,69 @@
+
+Header header
+
+bool lost
+int32 matches
+int32 inliers
+float32 icpInliersRatio
+float32 icpRotation
+float32 icpTranslation
+float32 icpStructuralComplexity
+float32 icpStructuralDistribution
+int32 icpCorrespondences
+float64[36] covariance
+int32 features
+int32 localMapSize
+int32 localScanMapSize
+int32 localKeyFrames
+int32 localBundleOutliers
+int32 localBundleConstraints
+float32 localBundleTime
+bool keyFrameAdded
+float32 timeEstimation
+float32 timeParticleFiltering
+float32 stamp
+float32 interval
+float32 distanceTravelled
+int32 memoryUsage # MB
+float32 gravityRollError
+float32 gravityPitchError
+
+# Local bundle camera ids
+int32[] localBundleIds
+
+# Local bundle camera models
+CameraModels[] localBundleModels
+
+# Local bundle camera poses
+geometry_msgs/Pose[] localBundlePoses
+
+geometry_msgs/Transform transform
+geometry_msgs/Transform transformFiltered
+geometry_msgs/Transform transformGroundTruth
+geometry_msgs/Transform guess
+
+# 0=F2M, 1=F2F
+int32 type
+
+# F2M odometry
+#   std::multimap<int, cv::KeyPoint> words;
+#   std::vector<int> wordMatches;
+#   std::vector<int> wordInliers;
+int32[] wordsKeys
+KeyPoint[] wordsValues
+int32[] wordMatches
+int32[] wordInliers
+int32[] localMapKeys
+Point3f[] localMapValues
+
+# local scan map data
+sensor_msgs/PointCloud2 localScanMap
+
+# F2F odometry
+#   std::vector<cv::Point2f> refCorners;
+#   std::vector<cv::Point2f> newCorners;
+#   std::vector<int> cornerInliers;
+Point2f[] refCorners
+Point2f[] newCorners
+int32[] cornerInliers
+