Implement 2D LIDAR in RTABMap

[zbrotherton]

RTABMap (Real Time Appearance Based Mapping) is the SLAM software we are using; check below for documentation and an introduction to the software:
https://github.com/introlab/rtabmap
https://github.com/introlab/rtabmap/wiki

Also look through these demos:
https://docs.ros.org/en/humble/p/rtabmap_demos/

Although RTABMap is usually referred to (and is currently configured) as a purely visual SLAM software using a depth camera to generate a 3D RGBD pointcloud, 2D LIDAR can be used to supplement this and quickly fill in the costmap from all angles to prevent collisions in blindspots.

Your task has two major parts:

1. Integrate the 2D LIDAR into our current RTABMap configuration in igvc_slam/sim_rtabmap.launch.py by altering/adding parameters (there are some examples). Don't worry about getting the LIDAR to publish a topic - that's up to sim/hardware (sim implementation pending merge of Added LIDAR functionality #54)
2. Investigate any implications of using 2D LIDAR with RTABMap. For example, can we still use VIO (Visual-inertial odometry) if LIDAR is being added? Should we also be using some LIDAR-based odometry along with visual approaches? If so, how do we even get started? Do we need to add anything external to RTABMap?

Produce a document of your research, and upload it to our GitHub wiki or send it to me. Try to accommodate for any implications as much as possible in your PR - feel free to add more packages or code beyond RTAB parameters as necessary

Also feel free to discuss what you find along the way with your subsystem team/gavin/me

This wiki page I created contains all possible RTABMap arguments. It will likely be helpful
https://github.com/RPI-IGVC-2025/2026RobotCode/wiki/RTABMap-Arguments

[zbrotherton]

Reference #61 for more information - it seems like we will be using ICP and VIO at the same time, but still investigate implications of this