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[ROS][refact] Synchronize with ros2

Tong Fu requested to merge refact/SynchronizeWithROS2 into master


Update master branch w.r.t feat/ROS2 branch so that the content of the slam_lib is exactly the same.


  • Make NbLasers variable (for lidar conversion) int
  • Fix minor issue for loop closure in ros_wrapping
  • Update documentation of slam lib: fix path name, add ros2_wrapping section
  • Update documentation of lidar slam node in ros_wrapping
  • Update documentation of lidar conversion node in ros_wrapping
  • Update rviz display


Edited by Tong Fu

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