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_split.md

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+# rgbd_split
+
+Splits an [`rtabmap_msgs/msg/RGBDImage`](https://docs.ros.org/en/jazzy/p/rtabmap_msgs/msg/RGBDImage.html) back into the standard ROS image topics.
+
+`RGBDImage` bundles color, depth and both camera infos into one message so they arrive together, which is what RTAB-Map wants. Everything else in the ROS ecosystem — RViz, `image_view`, [`depth_image_proc`](https://docs.ros.org/en/jazzy/p/depth_image_proc/) — expects separate `Image` and `CameraInfo` topics. This node unpacks the bundle for them.
+
+It is the inverse of [rtabmap_sync](https://docs.ros.org/en/jazzy/p/rtabmap_sync/)'s `rgbd_sync`, and of its `stereo_sync` when `stereo` is set — those two are what produce an `RGBDImage` in the first place.
+
+## Usage
+
+```bash
+ros2 run rtabmap_util rgbd_split --ros-args -r rgbd_image:=/camera/rgbd_image
+```
+
+```python
+ComposableNode(
+    package='rtabmap_util',
+    plugin='rtabmap_util::RGBDSplit',
+    name='rgbd_split',
+    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. Raw or compressed images are both accepted. |
+
+## Published Topics
+
+The output topics are named after the **resolved** input topic, so remapping `rgbd_image` moves the outputs with it. With `rgbd_image` remapped to `/camera/rgbd_image` they are `/camera/rgbd_image/rgb/image` and so on. Setting `stereo: true` renames the two halves `left` and `right`, see [Stereo messages](#stereo-messages).
+
+| Topic | Type | Description |
+|---|---|---|
+| `<rgbd_image>/rgb/image` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) | The color image, decompressed if needed. |
+| `<rgbd_image>/rgb/camera_info` | [`sensor_msgs/msg/CameraInfo`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/CameraInfo.html) | |
+| `<rgbd_image>/depth/image` | [`sensor_msgs/msg/Image`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/Image.html) | The depth image, or the right image of a stereo pair. |
+| `<rgbd_image>/depth/camera_info` | [`sensor_msgs/msg/CameraInfo`](https://docs.ros.org/en/jazzy/p/sensor_msgs/msg/CameraInfo.html) | For a stereo pair this is the right camera, and its `P(0,3)` carries the baseline. |
+
+Each half is only unpacked if something is subscribed to it, so subscribing to color alone does not pay for depth decompression.
+
+## Parameters
+
+| Parameter | Type | Default | Description |
+|---|---|---|---|
+| `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 four output publishers alone. |
+| `queue_sub` | `int` | `5` | Queue depth of the `rgbd_image` subscription. Must be at least 1. |
+| `queue_pub` | `int` | `1` | Queue depth of every publisher. Must be at least 1. |
+| `stereo` | `bool` | `false` | Name the outputs `left`/`right` instead of `rgb`/`depth`. See [Stereo messages](#stereo-messages). |
+
+## Stereo messages
+
+The node handles **stereo** `RGBDImage` messages as well as RGB-D ones. In a stereo message the "depth" slot holds the right image, and the second camera info carries the baseline; the depth topics then carry the right camera, correctly typed as `mono8` or `bgr8` rather than mislabeled as depth.
+
+That works, but the topic names lie. Set `stereo: true` and the outputs are named for what they hold:
+
+| `stereo` | Output topics |
+|---|---|
+| `false` (default) | `<rgbd_image>/rgb/image`, `<rgbd_image>/rgb/camera_info`, `<rgbd_image>/depth/image`, `<rgbd_image>/depth/camera_info` |
+| `true` | `<rgbd_image>/left/image`, `<rgbd_image>/left/camera_info`, `<rgbd_image>/right/image`, `<rgbd_image>/right/camera_info` |
+
+```bash
+ros2 run rtabmap_util rgbd_split --ros-args \
+  -r rgbd_image:=/camera/rgbd_image \
+  -p stereo:=true
+```
+
+Only the names change — the message contents and the order of the two halves are the same either way, so the `rgb` slot always becomes the left image. The two namings are exclusive: with `stereo: true` nothing is published on `rgb`/`depth`.
+
+The node checks the setting against what actually arrives, going by the encoding of the second half: `16UC1`, `32FC1` and `mono16` are depth, anything else is an image. If the two disagree it logs a warning **once** and keeps forwarding — a mismatch makes the topic name misleading, not the data wrong, so it is never worth dropping a frame over.
+
+## Notes
+
+If a message has no `frame_id` on one of its sub-messages, the node fills it in from the other one so the output is always usable by TF.