[refact] Update slam lib wrt branch ros2

Goal

Some changes of slam lib are done in branch feat/ROS2. The goal of this MR is to keep the two branches have same behavior.

Changes

• Some minor fixes for misspelling or variable type

• Changes done in ROS2 to make it works in windows 10

What remains to solve

• The changes in SpinningSensorKeypointExtractor.cxx make ros_test fail. The keypoints sampling makes keypoints point cloud different from master. This should be updated in the MR !271 (merged)

• Update feat/ROS2 after merged