Odometry wrongly reporting topic(s) not received for 5 seconds if odometry is lost or input topics have all invalid values

[matlabbe]

https://github.com/introlab/rtabmap_ros/blob/57dd787a589ab40c75b43f1ed72084858440f107/rtabmap_odom/src/OdometryROS.cpp#L1039-L1046

2 cases:

• If odometry is lost (pose is null), odometry will report not received input topics, which is wrong.
  • Just remove !pose.isNull() from code above?
• For icp_odometry, if input scans contain only invalid data (NaN or all values > max range), the laser scan will be empty and diagnostic "tick" will never be called, so odometry will report not received input topics, which is wrong.
  • Note that we could just remove that if (imus only sensor data are processed earlier): https://github.com/introlab/rtabmap_ros/blob/57dd787a589ab40c75b43f1ed72084858440f107/rtabmap_odom/src/OdometryROS.cpp#L932

Related issue: https://github.com/introlab/rtabmap_ros/issues/1183