[ROS][feat] Integrate loop closure in ros_wrapping

Goal

Integrate loop closure into ros wrapping. The changes are for ros_wrapping

Changes

• Add function ReadLoopIndices to read loop closure indices from an external csv file
• Add command LOAD_LOOP_INDICES to load loop closure indices
• Make OptimizeGraph take loop closure constraint into account
• Add PGO constraint parameters for pose graph
• Add buttons for 'optimize graph' and 'load loop indices' in rviz

Results

Please see in MR !312 (merged) a demo of loop closure application

Add output information of slam:

[ WARN] [1699021580.617365849]: Please review the following parameters setting:
[ INFO] [1699021580.617436828]: Logging timeout is set to 1800s. Pose graph optimization can be applied on this time window.
[ INFO] [1699021580.617452127]: Loop closure constraint is enabled for pose graph
[ INFO] [1699021580.617464904]: Sensor            | is enabled | can be used locally | can be used for PGO |
[ INFO] [1699021580.617480510]: Camera            |        OFF |                  NO |                  NO |
[ INFO] [1699021580.617493293]: Landmark detector |        OFF |                  NO |                  NO |
[ INFO] [1699021580.617505729]: Pose sensor       |        OFF |                  NO |                  NO |
[ INFO] [1699021580.617517766]: GPS               |        OFF |                  NO |                  NO |

TODO

• compile with ros1
• Test with loop closure data
• Add an interface figure and result figures
• Update doc