[Perception] AprilTags wants OpenCV 4.5.1+ while RTabMap requires OpenCV 4.2.0. Try to install two versions of OpenCV and tell CMake which one to use for each pkg

[gxywang]

Specifics:

• AprilTag pose estimation uses the quarternion header, which is only available on 4.5.1+ (see this)
• RTabMap uses 4.2.0 (see this)

Refer to these links:

• https://stackoverflow.com/questions/45614230/running-multiple-versions-of-opencv-on-the-same-computer

Building OpenCV 4.6.0 on Jetson Nano:

• if it hangs & link to build script

[gxywang]

Fixed on Jetson:

• Updated CMake file in apriltag_ros fork, added a #include in pose_estimation.hpp file
• Installation instruction in install_scripts folder: OpenCV 4.2.0 on binaries, 4.6.0 build from source

  • exports are in README, TODO: add to .bashrc file and push that to github

• .gitmodules is updated