rtabmap_slam tests and doc (#1460)

* rtabmap_slam tests and doc

* another round of review of the doc

* Disable by default use_intra_process_comms on latched/transient publishers

* Added test to catch not unlocked mutex from early error exit

* updated coverage settings

* Using UScopeMutex on all tryLock()

rtabmap_viz/src/GuiWrapper.cpp

@@ -71,7 +71,7 @@ GuiWrapper::GuiWrapper(const rclcpp::NodeOptions & options) :
 		frameId_("base_link"),
 		odomFrameId_(""),
 		waitForTransform_(0.2), // 200 ms
-		odomSensorSync_(false),
+		odomSensorSync_(true),
 		maxOdomUpdateRate_(10)
 {
 	tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());