[ROS2][refact][fix] Uniformize and fix loop closure
Aligned on !417 (merged)
- The loop closure transform is uniformized to be always relative in all code parts
- A hint prior transform can be provided to LoopClosureRegistration function. This prior can come from LogStates, Offset and/OR Teaser
- LoopClosureTransform member is removed and a new transform member is added to LoopInfo (formerly LoopIndices) structure. This allows to store various LC transforms and to not override the value.