Added support for ROS2 Jazzy and Ubuntu 24.04

[nathanshankar]

• Addressed segmentation faults caused by the latest Ceres version on Ubuntu 24.04
• Added support for ROS2 Jazzy by fixing header includes and adjustments in the ros2visualizer module
• config files D455 Stereo Mode: Using stereo IR streams + IMU.
• config files D455 Mono Mode: Using mono RGB + IMU.
  

[asimonov]

I can confirm I can build/run on ubuntu24/jazzy with these changes.

But for some reason with same sensor (Luxonis OAK-Pro-W) and same open_vins settings the initialisation does not work:

[run_subscribe_msckf-6] [init]: disparity is 0.069,0.045 (2.00 thresh)
[run_subscribe_msckf-6] [init]: failed static init: no accel jerk detected
[run_subscribe_msckf-6] [TIME]: 0.0048 seconds total (208.4 hz, 43.98 ms behind)

did anyone experience this?

[nathanshankar]

I can confirm I can build/run on ubuntu24/jazzy with these changes.

But for some reason with same sensor (Luxonis OAK-Pro-W) and same open_vins settings the initialisation does not work:

[run_subscribe_msckf-6] [init]: disparity is 0.069,0.045 (2.00 thresh)
[run_subscribe_msckf-6] [init]: failed static init: no accel jerk detected
[run_subscribe_msckf-6] [TIME]: 0.0048 seconds total (208.4 hz, 43.98 ms behind)

did anyone experience this?

Do you have a rosbag, so I can reproduce this?

[asimonov]

I traced the problem to change in Luxonis Oak-d-pro driver for ROS Jazzy: https://github.com/luxonis/depthai-ros/pull/696/files

Without new parameters IMU was running at 0.2 Hz and that was an issue for OpenVINS

[asimonov]

this PR works on Jazzy, BTW. I have tested

[goldbattle]

Is it possible to make this backwards compatible? I know the older versions can't have these header changes.
For the ceres fix this PR has a compatible method so the older versions can still be supported. #520