ROS2 various QOL updates (preparing new binary release) (#1225)

* Updating examples and README

* updated main readme

* odom: Added always_check_imu_tf parameter. sync: increased default sync_queue_size from 2 to 5 (to be more flexible to different hardware), added input and output diagnostics. rtabmap_viz: fixed node with same name redeclared warning.

* update readme

* Added husky demo

* converted demo_robot_mapping.launch to ros2

* Converted stereo_outdoor demo from ros1 to ros2

* Converted multi-session demo to ros2

* Converted demo_find_object launch to ros2

* renamed files

* uniformized default qos, increased sync_queue_size default to 10

* Added vlp16 + imu example

* Added husky 3D lidar demos

* moved demos in subdir

* Added vlp16+zed example

* rtabmap_viz: ignore odom update if tf not ready when not using topic (to avoid showing red screen). Added champ VSLAM demo.

* forwarded camera_model arg for zed examples, removed qos for turtlebot4 demo

* pointcloud_to_depthimage: added more error logs, removed output camera_info published twice and match ros1 namespaces

* Created two base general examples for 3D lidar usage, then create hardware specific examples on top of them.

* Added isaac sim demo

* Final update of all demos. Fixed MapCloud rviz plugin crashing when floor/ceiling filtering is used and resulting cloud is empty.

* Fixed 2d scan deskewing output frame, moved nav2 params under "params" folder, added number of topics processed/dropped for odometry, added icp_odometry option for turtlebot3 scan-only demo.

* rtabmap_demos: added README with examples

* Added TOC

* bump version to 0.21.9

rtabmap_examples/launch/k4a.launch.py

@@ -1,21 +1,20 @@
 # Requirements:
 #   A Kinect for Azure
 #   Install Azure_Kinect_ROS_Driver ros2 package (https://github.com/microsoft/Azure_Kinect_ROS_Driver/tree/humble)
+#   To install Kinect SDK on Ubuntu 22.04, see https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/1790#issuecomment-1531626651
+#   udev rules: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/5f79890933e1c81e325633152b2f2799df825b8b/docs/usage.md#linux-device-setup
 #   Install imu_filter_madgwick ros2 package
 # Example:
 #   $ ros2 launch rtabmap_examples k4a.launch.py
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 def generate_launch_description():
     parameters=[{
           'frame_id':'camera_base',
           'subscribe_rgbd':True,
-          'subscribe_odom_info':True,
-          'qos':1}]
+          'subscribe_odom_info':True}]
 
     remappings=[
           ('imu', '/imu/data'),
@@ -32,11 +31,9 @@ def generate_launch_description():
         Node(
             package='rtabmap_odom', executable='rgbd_odometry', output='screen',
             parameters=[{ 'frame_id':'camera_base',
-                          'subscribe_odom_info':True,
                           'approx_sync':True,
                           'approx_sync_max_interval':0.01,
                           'wait_imu_to_init':True,
-                          'qos':1,
                           'queue_size':30,
                           'keep_color':True,
                           # Color image needs to be rectified,