[fix] Fix CI

• rviz is now mandatory to build the ros wrapping
• CI runners have been updated with the new dockerfile
• Ceres tag have been set to 2.1.0 in docker file because the master version deprecates some used functions
• Tests have been corrected
• SLAM is not deterministic on multiple threads, issue was openned here. For now, the multithreading is disabled by default to make the tests pass again. However, this issue should be solved and the default values restore to 4 in the future