Development v2.5 - New Config System, ROS2 support,

[goldbattle]

Key Changes

• Yaml-based configuration system has been added to support easy ROS1, ROS2 and ROS-free version. The default values can be overridden using ROS parameters allowing for easy integration.
• Yaml sensor files are now directly read (e.g. from Kalibr) to facility faster integration with new sensors.
• Support for ROS2 building and publishing with live sensors (subscribe). Documentation has been updated to include instructions on how to build and run datasets.
• Build system will now link to Python3 for plotting utilities in a more robust manor.
• Static initialization now checks disparity to ensure the system is stationary.
• Internal logging levels with print statements have been added #197
• Docker files for ROS1 and ROS2 for Ubuntu 16.04, 18.04, and 20.04
• NOTE: CMake version needs to be >3.12, which can be installed using the following:
• NOTE: https://docs.openvins.com/gs-installing.html#gs-install-cmake

Other Changes

• Store camera width and height in the camera objects
• Allow for tracking of dynamic number of features. This is leveraged during initialization to reduce load.
• Default config files now have a larger grid to allow for more uniform feature extraction.
• SO(3) and SE(3) log functions have been changed to try to be more accurate
• Image transport now used so that CompressedImages can be subscribed to see images over wifi
• Fixed aruco feature publishing ids
• Simulator now uses the camera classes when generating measurements
• Other documentation fixes (e.g. #206)

[goldbattle]

• NOTE: CMake version needs to be >3.12, which can be installed using the following:
• NOTE: https://docs.openvins.com/gs-installing.html#gs-install-cmake