[Perception] Optimize RTAB-Map

[gxywang]

Optimize RTAB-Map to run smoothly and efficiently on Jetson

Steps:

1. Look through available parameters, understand what each one does
2. Think about which ones we need & which ones we dont
3. Implement parameter changes
4. Test decisions on Jetson (Debug mode may be helpful)
5. Repeat to optimize
6. (Optional, very advanced): Graph optimization on RTABMap backend

Helpful Resources:

• Parameter tuning
• Test RTABMap on Jetson nano