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

docker/lyrical/Dockerfile

@@ -0,0 +1,6 @@
+FROM osrf/ros:lyrical-desktop
+# install rtabmap packages
+RUN apt-get update && apt-get install -y \
+    ros-lyrical-rtabmap \
+    ros-lyrical-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/

docker/lyrical/latest/Dockerfile

@@ -0,0 +1,19 @@
+FROM introlab3it/rtabmap:resolute
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p ros2_ws/src && \
+    cd ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j2" && \
+    rosdep init && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="rtabmap nav2_bringup realsense2_camera nav2_msgs grid_map_ros nav2_costmap_2d" && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    colcon build --packages-skip rtabmap_costmap_plugins rtabmap_ros --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws