Lyrical support (#1433)

* Lyrical support

* removed dep not available on lyrical

* updated docker lyrcical

* making cmake less verbose, disabled tests on rtabmap_python

* cleanup not used tests in rtabmap_python

* addressing some lyrical deprecated warnings

* cancel pr jobs on recommit

* small refactor

* disabled lyrical bin docker

* restored python test and fixed error

* trigger ci

* fixing docker lyrical

* disabled rtabmap_ros lyrical

* pytest

* fixing packages-skip

* bump 0.23.7

.github/workflows/ros2.yml

@@ -20,7 +20,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ros_distro: [humble, jazzy, kilted, rolling]
+        ros_distro: [humble, jazzy, kilted, lyrical, rolling]
         include:
         - ros_distro: humble
           skip_keys: ''
@@ -31,10 +31,10 @@ jobs:
         - ros_distro: kilted
           skip_keys: 'grid_map_ros'
           packages: 'rtabmap_ros'
-        #- ros_distro: lyrical
-        #  skip_keys: 'nav2_bringup nav2_msgs velodyne'
-        #  # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
-        #  packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
+        - ros_distro: lyrical
+          skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
+          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
+          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
         - ros_distro: rolling
           skip_keys: 'nav2_bringup nav2_msgs velodyne'
           # rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages: