Update slam_rtabmap.launch

[matlabbe]

Fixes #165

Description of the changes:

• Added IMU support (map is now aligned with gravity by default).
• Updated depth rectification interpolation method to NearestNeighbor instead of Linear. This avoids a lot of noisy points in the 3D point cloud. This would also fix image_proc bug for rectified depth images #103 at the same time.
• Added IR mode when setting color_enabled to false. This mode can be useful when mapping in the dark.
• Using depth registered to RGB camera instead of RGB registered to depth camera. This is useful for proper texturing of the 3D mesh when exporting the map.
• Use 720P instead of 1536P so that default parameters of rtabmap can work better. Adjusted parameters between color and ir modes. Note that I removed --Odom/ResetCountdown 2 parameter as it is quite specific to application (however the parameters I modified for color mode will make odometry losing track a lot less often).
• The RGB image has to be rectified, because of that, it adds black borders to RGB image. Those black borders would not affect visual odometry or loop closure detection, but it is affecting 3D point cloud reconstruction. I added this note: When using color camera, to avoid black borders in point clouds in rtabmapviz, set ROI ratios in Preferences->3D rendering to "0.05 0.05 0.05 0.05" under Map and Odom columns.. The black borders won't appear anymore.

Required before submitting a Pull Request:

• I reviewed CONTRIBUTING.md
• I built my changes locally
• I tested my changes with a device
• I changed both the ROS1 and ROS2 branches

I tested changes on:

• Windows
• Linux
• ROS1
• ROS2

# Color mode:
$ roslaunch azure_kinect_ros_driver slam_rtabmap.launch
# IR mode:
$ roslaunch azure_kinect_ros_driver slam_rtabmap.launch color_enabled:=false

Update ROS2 (February 2023)

For those using ROS2, see my post here: http://official-rtab-map-forum.206.s1.nabble.com/Differences-between-ROS-output-vs-desktop-tp9333p9334.html

[ghost]

All CLA requirements met.

[matlabbe]

For those using ROS2, see my post here: http://official-rtab-map-forum.206.s1.nabble.com/Differences-between-ROS-output-vs-desktop-tp9333p9334.html