[PV][refact] Refact loop parameter and warning

Goal

add offset of loop closure is a parameter to add a offset between query submap and revisited submap when two frames of loop is so far that icp can not compute the registration.

Previously, in pv wrapping add offset is in the advanced parameters of loop closure. Now we make it out of advanced parameters.

Changes

1. add offset of loop closure is now in the general setting of loop closure category
2. Add warning in pv wrapping when loop closure is not detected by teaserpp

Results