[ROS2][deps] Update dependencies

Goal

Update dependencies to newest versions.

Based on !390 (merged)

Changes

• Update Superbuild :
  • Eigen : 3.3.7 to 3.4
  • Ceres : 2.1.0 to 2.2.0
  • nanoflann : 1.4.2 to 1.5.4
• Fix bugs induced by Eigen update

Results

Reproduce

Build SB

path/to/bin/cmake path/to/slam/slam-superbuild -GNinja -DCMAKE_BUILD_TYPE=Release -DINSTALL_Boost=OFF -DINSTALL_PCL=OFF

Build SLAM with system version

colcon build --base-paths slam/ros2_wrapping --cmake-args -DCMAKE_BUILD_TYPE=Release

Build SLAM with new SB version

colcon build --base-paths slam/ros2_wrapping --cmake-args -DCMAKE_BUILD_TYPE=Release -DSUPERBUILD_INSTALL_DIR=path/to/SB-build-without-boost-and-PCL/install

Run

ros2 launch lidar_slam slam_velodyne.launch

ros2 bag play --clock -d 2 path/to/velodyne.bag

Performances

TODO

TODO

• Test performances
• Update task table here
• Update SB CI (will be done later)