[ROS][feat] Click to get loop closure indices

Goal

Before, loop closure indices are provided by a csv file. It's difficult to know loop closure indices before a slam map is built. This MR aims to give a simple way to obtain loop indices for users:

• In rviz, click a point on the trajectory which is considered as the loop frame of the current frame.
  • Play slam and stop the bag when a loop closure is observed.
  • Click the position where forms a loop with current position
  • the current pose and the closest pose to clicked point are added into LoopDetections

Changes

• Some refacts and fixes
• Add ClickedPointCallback function

Results

Reproduce

• demo 1: hesai_car.
• demo 2: acquisition_sido

Data

• data 1: car(hesai)
• data 2: Acquisition_SIDO/outdoor

Build

catkin_make -j --cmake-args -DCMAKE_BUILD_TYPE=Release -DENABLE_g2o=ON

Launch file

• Use `slam_velodyne.launch' but comment velodyne points conversion part.
• change "velodyne" to "hesai" in tf_base_to_velo_node

Parameters

• change the parameters:
• loop_closure.enable_offset: true
• n_threads: 4
• distance_threshold: 0.1
• leaf_size.edges: 0.1
• leaf_size.planes: 0.1
• decaying_threshold: 900
• min_frames_per_voxel: 0
• voxel_grid_resolution: 1.
• neighbors_radius: 0.05
• edge_depth_gap_threshold: 2.
• edge_nb_gap_points: 20

Run

rosrun lidar_conversions generic_conversion_node \
roslaunch lidar_slam slam_velodyne.launch \
rosbag play --clock path/to/bag /hesai/pandar:=/generic_points

What remains to solve

• Parse CSV, see MR !364 (merged)
• Bring features in ros2_wrapping

Checklist

• Camel case everywhere except for ROS variables/parameters
• Lower case for local variables and lambda functions
• Upper case for pour members, methods and tool functions (in Utils)
• Precise namespace when calling a function (or this->X or classe.X)
• Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
• Space between if, while, for and parenthesis
• Space between operators and variables: e.g. a + b
• Space after ","
• Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
• Function names should start with a verb, variable names should start with a name
• Macros should be between {}
• Do not use negative boolean (i.e. noJoe)
• Check minimal size of the types (double -> float -> int -> uint)
• Check const and ref in functions arguments
• References should be written "type& name", not "type &name"
• Update documentation if needed
• Add MR labels [ROS]/[ROS2]/[PV]
• If ros/ros2, update task table here
• Add a comment over each non trivial function in header files
• Adda header to each new file