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_util/CMakeLists.txt

@@ -305,6 +305,8 @@ install(DIRECTORY include/
 #############
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_index_cpp REQUIRED)
+  find_package(class_loader REQUIRED)
 
   # Each node gets its own test binary: a crash or a stuck executor in one node cannot
   # take the others down, and every binary starts with a clean DDS graph.
@@ -334,6 +336,12 @@ if(BUILD_TESTING)
   rtabmap_util_add_node_test(test_disparity_to_depth)
   rtabmap_util_add_node_test(test_rgbd_relay)
   rtabmap_util_add_node_test(test_rgbd_split)
+  rtabmap_util_add_node_test(test_rgbd_pipeline)
+  # Loads rtabmap_sync's components by hand: since Kilted, rclcpp_components no longer
+  # exports these to its dependents.
+  if(TARGET test_rgbd_pipeline)
+    target_link_libraries(test_rgbd_pipeline ament_index_cpp::ament_index_cpp class_loader::class_loader)
+  endif()
   rtabmap_util_add_node_test(test_lidar_deskewing)
   rtabmap_util_add_node_test(test_obstacles_detection)
   rtabmap_util_add_node_test(test_point_cloud_aggregator)