Fixing topic sync lagging and delay issues, more examples (depthai, zed) (#1206)

* Fixed odometry latency

* Fixed node ID=0 issues as msgs may not have seq. (#1202)

(cherry picked from commit 097cab0667)

* Odom: removed long processing from ros callbacks (decreasing delay, also making delay independent of the message filters topic_queue_size and sync_queue_size parameters)

* Changed a log from info->debug

* Changed a log from info->debug

* Updated default topic and sync queue_size inside nodes. Exposing topic and sync queue size params in warning when cannot synchronize. Added zed and depthai examples. Odom: Fixed imu callback group, added multi-threaded executors for all odometry nodes.

* fixed merge

* Include everything needed in example launch files for simple launch. Small fixes.

---------

Co-authored-by: Borong Yuan <[email protected]>

rtabmap_slam/src/CoreWrapper.cpp

@@ -2316,7 +2316,7 @@ void CoreWrapper::process(
 		{
 			timeRtabmap = timer.ticks();
 		}
-		RCLCPP_INFO(this->get_logger(), "rtabmap (%d): Rate=%.2fs, Limit=%.3fs, Conversion=%.4fs, RTAB-Map=%.4fs, Maps update=%.4fs pub=%.4fs (local map=%d, WM=%d)",
+		RCLCPP_INFO(this->get_logger(), "rtabmap (%d): Rate=%.2fs, Limit=%.3fs, Conversion=%.4fs, RTAB-Map=%.4fs, Maps update=%.4fs pub=%.4fs delay=%.4fs (local map=%d, WM=%d)",
 				rtabmap_.getLastLocationId(),
 				rate_>0?1.0f/rate_:0,
 				rtabmap_.getTimeThreshold()/1000.0f,
@@ -2324,6 +2324,7 @@ void CoreWrapper::process(
 				timeRtabmap,
 				timeUpdateMaps,
 				timePublishMaps,
+				(now() - lastPoseStamp_).seconds(),
 				(int)rtabmap_.getLocalOptimizedPoses().size(),
 				rtabmap_.getWMSize()+rtabmap_.getSTMSize());
 		rtabmapROSStats_.insert(std::make_pair(std::string("RtabmapROS/HasSubscribers/"), mapsManager_.hasSubscribers()?1:0));