First version rtabmap_launch working

rtabmap_msgs/msg/RGBDImage.msg

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+
+Header header
+
+# For stereo, rgb corresponds to left camera, and depth the right camera.
+
+# camera info
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
+
+# Raw
+sensor_msgs/Image rgb
+sensor_msgs/Image depth
+
+# Compressed
+sensor_msgs/CompressedImage rgb_compressed
+sensor_msgs/CompressedImage depth_compressed
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor global_descriptor