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_odom/test/test_odometry_ros.cpp

@@ -987,6 +987,26 @@ TEST_F(OdometryRosTest, publishes_compressed_sensor_data_when_asked)
 			<< "the raw scan should have been replaced by the compressed one";
 }
 
+/// Same, compressing in the odometry thread instead of one thread per sensor.
+TEST_F(OdometryRosTest, publishes_compressed_sensor_data_without_parallel_compression)
+{
+	publishSensorTf();
+	std::shared_ptr<Collector<nav_msgs::msg::Odometry>> odom =
+			collect<nav_msgs::msg::Odometry>("odom");
+	std::shared_ptr<Collector<rtabmap_msgs::msg::SensorData>> compressed =
+			collect<rtabmap_msgs::msg::SensorData>("odom_sensor_data/compressed");
+	makeNode({rclcpp::Parameter("publish_compressed_sensor_data", true),
+	          rclcpp::Parameter("sensor_data_parallel_compression", false)});
+
+	rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub = scanPublisher();
+	ASSERT_TRUE(waitForSubscriber(pub));
+	feedFrames(pub, odom, 2);
+	ASSERT_TRUE(spinUntil([&]() { return !compressed->empty(); }))
+			<< "nothing was published on odom_sensor_data/compressed";
+	EXPECT_GT(compressed->back().laser_scan_compressed.size(), 0u);
+	EXPECT_EQ(0u, compressed->back().laser_scan.data.size());
+}
+
 
 /**
  * The whole recovery story, as a wheeled robot would live it: a guess frame it trusts,