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/zed.launch.py

@@ -55,7 +55,7 @@ def launch_setup(context: LaunchContext, *args, **kwargs):
                                     'publish_map_tf': 'false'}.items(),
         ),
 
-        # Sync right/depth/camera_info together
+        # Sync rgb/depth/camera_info together
         Node(   
             package='rtabmap_sync', executable='rgbd_sync', output='screen',
             parameters=parameters,
@@ -93,5 +93,9 @@ def generate_launch_description():
             'use_zed_odometry', default_value='false',
             description='Use zed\'s computed odometry instead of using rtabmap\'s odometry.'),
         
+        DeclareLaunchArgument(
+            'camera_model', default_value='',
+            description="[REQUIRED] The model of the camera. Using a wrong camera model can disable camera features. Valid choices are: ['zed', 'zedm', 'zed2', 'zed2i', 'zedx', 'zedxm', 'virtual']"),
+        
         OpaqueFunction(function=launch_setup)
     ])