rtabmap_util tests and doc (#1450)

* Initial tests

* more tests

* More in-depth deskew() testing

* slightly less verbose clamping corruption warning

* added tf buffer related tests

* added remaining tests

* Added rosdoc2, improve tests when we require sync of odom stamp and sensor stamp

* cleanup doc

* fixing ci

* rtabmap_util tests and doc

* Added db_player tests

* Added MapsManager tests

* Added map_assembler tests

* Documenting node first draft

* relative links

* Fixed british->usa english style. Reviewed all md files.

* added link to install ros1

* updated badges

* added Iron

* added ubuntu

* added codecov

* updated coverage ci

* fixing rosdep

* updated ci cov job

* ci bump

* fixing cov ci

* small doc cleanup

rtabmap_util/doc/rgbd_relay.md

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+# rgbd_relay
+
+Republishes an [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html), optionally compressing or decompressing it on the way through.
+
+An `RGBDImage` can carry its images raw or compressed. This node converts between the two so that the expensive form crosses the network only where it has to: compress before a wifi link, decompress on the other side.
+
+With both `compress` and `uncompress` left false the message is forwarded untouched, which makes the node a plain relay — useful to give a topic a second name, or to bridge two incompatible QoS profiles with `qos_sub` and `qos_pub`. See [Bridging QoS profiles](#bridging-qos-profiles).
+
+## Usage
+
+Compress before sending over a slow link:
+
+```bash
+ros2 run rtabmap_util rgbd_relay --ros-args \
+  -r rgbd_image:=/camera/rgbd_image \
+  -p compress:=true
+```
+
+```python
+ComposableNode(
+    package='rtabmap_util',
+    plugin='rtabmap_util::RGBDRelay',
+    name='rgbd_relay',
+    parameters=[{'compress': True}],
+    remappings=[('rgbd_image', '/camera/rgbd_image')])
+```
+
+## Subscribed Topics
+
+| Topic | Type | Description |
+|---|---|---|
+| `rgbd_image` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | Queue depth `queue_sub`, 5 by default. |
+
+## Published Topics
+
+| Topic | Type | Description |
+|---|---|---|
+| `rgbd_image_relay` | [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) | Queue depth `queue_pub`, 1 by default. Published only when someone is subscribed. |
+
+## Parameters
+
+| Parameter | Type | Default | Description |
+|---|---|---|---|
+| `compress` | `bool` | `false` | Fill the compressed fields of the output. Color becomes JPEG; depth becomes PNG, or JPEG when the message carries a stereo pair rather than depth. Fields already compressed on input are passed through as-is. |
+| `uncompress` | `bool` | `false` | Fill the raw fields of the output by decoding the compressed ones. Fields already raw on input are passed through as-is. |
+| `qos` | `int` | `0` | Reliability of both sides: `0` system default, `1` reliable, `2` best effort. |
+| `qos_sub` | `int` | value of `qos` | Reliability of the `rgbd_image` subscription alone. |
+| `qos_pub` | `int` | value of `qos` | Reliability of the `rgbd_image_relay` publisher alone. |
+| `queue_sub` | `int` | `5` | Queue depth of the `rgbd_image` subscription. Must be at least 1. |
+| `queue_pub` | `int` | `1` | Queue depth of the `rgbd_image_relay` publisher. Must be at least 1. |
+
+## Bridging QoS profiles
+
+A subscriber that asks for **reliable** will not connect to a publisher offering **best effort** — the request cannot be satisfied, so the two silently never match. A best-effort subscriber, on the other hand, connects to either.
+
+That is a real problem when a camera driver publishes best effort and the consumer insists on reliable. Set the two sides of the relay separately and it forwards across the gap:
+
+```bash
+ros2 run rtabmap_util rgbd_relay --ros-args \
+  -r rgbd_image:=/camera/rgbd_image \
+  -p qos_sub:=2 \
+  -p qos_pub:=1
+```
+
+Both parameters default to `qos`, so setting `qos` alone configures both sides at once.
+
+Reliability is all that is bridged — durability is left at the default, so a transient-local publisher is not converted. The queue depths are separate too, through `queue_sub` and `queue_pub`.
+
+## Notes
+
+Setting neither `compress` nor `uncompress` forwards the message unchanged and skips all image handling — the cheapest path by a wide margin.
+
+Setting both is allowed and produces a message carrying each image twice, raw and compressed. That is rarely what you want.
+
+Depth is compressed as **PNG**, a stereo right image as **JPEG**.