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[refact] Update slam lib wrt branch ros2

Tong Fu requested to merge refact/UpdateSlamLibMaster into master

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

Edited by Tong Fu

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