ros1: Migrating tf to tf2 (#1425)

* Migrating tf to tf2

* Added ci action to test PR on ros1

* updated dev container with nvidia working

* backward compatibility with topics having frame_id with leading slash not allowed with tf2

* backward compatibility of leading slash for other tf2 buffers

* updated comment

.devcontainer/devcontainer.json

@@ -23,9 +23,16 @@
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/catkin_ws/src/rtabmap_ros,type=bind",
     "workspaceFolder": "/home/vscode/catkin_ws",
     "postCreateCommand": "cd /home/vscode/catkin_ws/src && catkin_init_workspace",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
     "runArgs": ["--privileged",
-                "--runtime=nvidia",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
                 "--env=DISPLAY",
                 "--env=QT_X11_NO_MITSHM=1",
-                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"]
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
 }