Added Velocities to Odometry Message

[pupueys]

• actually fixed bug in yolo tracking and added full rgbd integraion. Made ros launch Node much clearer but adding a custom DynosamNode which is launchable. Testing co-planar issues with object tracking
• testing filtering over motion in frontend
• testing filtering but something broken in regular frontend motion
• issue seems to be coming from using the pre-calculated of
• working basic SRIF filtering estimating for frame to frame motion
• testing SRIF with hybrid motion formulation and linearized point as parameter. Trick is to reset filter when we resample!
• minor clean up
• changed hybrid factors to finally use analytical jacobians and added a stereo hybrid factor for future use. Added unit tests on output (i.e residual) and Jacobian calculations
• testing in prep for adding new visualisation for hybrid in both frontend and backend
• added intermediate accessor extension of AccessorT. Made HyrbridAccesorCommon to bridge both hybrid methods and added keyframe visualisations in the backend display modules
• publishing frontend-filtering keyframes for debugging
• testing static Keyframing and utilising hybrid motion filtering estimation in backend
• testing KF in backend with Hybrid and kF motion from frontend
• Testing
• testing docker build on jetson and refining relevant bash scripts
• not compiling MultiSync due to jazzy vs. kilted differences in message filters
• code compiling on ORIN
• running NN on ORIN
• fixed but in propogate dynamic obejcts and added architecture agnostic include file overwrites in cmakelists for openmpi
• publishing frontend-filtering keyframes for debugging
• bring in relevant things from filtetring branch but now VIODE is not working
• Revert "running NN on ORIN"
• solved conditional compilation of MultiSync
• working version on desktop/orin (docker file permitting). Version is up to date with jm/filtering which has many unncessary thigns to run with current stable algorithms. Will backtrack KF hacks in front/backend before testing and then merging to main
• intermediate readme that is under review
• added option to turn off opencv display
• removed old logging comments and updated new readme
• improving timing stuff. Last commit before moving to new gtsam version
• Update INSTALL.md with MPI error fix and dependencies
• Update dataset download instructions in README
• lies not moving to new gtsam
• Revise MPI missing error section in INSTALL.md
• Improve dataset download instructions in README
• fixed relative rotation
• updated official readme
• added shebang to craete container files
• fixed minor issues with dockerfile. Updated readme with more dynosam_nn related information and removed 'frontend' prefix from ground truth topics
• testing for processing speed
• testing timing in object detector
• Added velocities to odometry message
• Smaller fixes