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[fix] Fix loop indices in loop closure

Tong Fu requested to merge ROS2/fix/FixLoopIndices into feat/ROS2


This MR is to synchronize MR !376 (merged) for ros2 branch

Fix the "[ERROR] Error: could not cast the vertex" error.


First bug was a weird check on a vertex in Loop closure that is removed

Second bug was due to the fact that the loop indices were badly input to the graph optimizer


The loop closure is well set

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