Merged master to ros2. ros2: Uniformized qos of all subscribers and publishers.

msg/RGBDImage.msg

@@ -1,6 +1,9 @@
 
 std_msgs/Header header
 
+# For stereo, rgb corresponds to left camera, and depth the right camera.
+
+# camera info
 sensor_msgs/CameraInfo rgb_camera_info
 sensor_msgs/CameraInfo depth_camera_info
 
@@ -11,3 +14,12 @@ sensor_msgs/Image depth
 # Compressed
 sensor_msgs/CompressedImage rgb_compressed
 sensor_msgs/CompressedImage depth_compressed
+
+# Local features
+KeyPoint[] key_points
+Point3f[] points
+# compressed descriptors
+# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
+uint8[] descriptors
+
+GlobalDescriptor global_descriptor