Supporting image compression formats passthrough (#1461)

* Supporting ros depth compression formats passthrough

* Added image_compression_format (support jpg,png). Use Compression.h constants.

* Bridging gap with #1457

* CoreWrapper: decode_images_on_demand

* rgbd_sync->rgbd_split encoding/decoding test with image_transport validation. rgbd_split color passthrough

* more tests

* fixing ci on kilted+

* fixing test

* fixing lyrical tests

* fixing rolling ci

* Improved test coverage

* fixing some tf waitForTransform deadlocks when sim time is used in tests

* CI: build rtabmap_slam on rolling

rtabmap_slam builds without nav2_msgs, which is not on resolute yet: skip its
key instead of leaving the package out. Only rtabmap_costmap_plugins (and the
rtabmap_ros metapackage pulling it in) still need nav2.

rtabmap_conversions/CMakeLists.txt

@@ -30,7 +30,7 @@ find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 
-find_package(RTABMap 0.23.13 REQUIRED)
+find_package(RTABMap 0.24.0 REQUIRED)
 
 # libraries
 SET(Libraries
@@ -79,6 +79,11 @@ IF("$ENV{ROS_DISTRO}" STRLESS "kilted")
   add_definitions(-DPRE_ROS_KILTED)
 ENDIF()
 
+# compressed_depth_image_transport decodes RVL since Jazzy
+IF("$ENV{ROS_DISTRO}" STRLESS "jazzy")
+  add_definitions(-DPRE_ROS_JAZZY)
+ENDIF()
+
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