Implement robot_localization for use with RTABMap

[zbrotherton]

Here's the problem we're trying to solve:
http://official-rtab-map-forum.206.s1.nabble.com/Combining-visual-and-icp-odometry-td7623.html
As shown in the link, RTABMap will generate both types of odometry we need, and we will use another package robot_localization to combine them

For general RTABMap information, look through these docs and demos:
https://github.com/introlab/rtabmap/wiki
https://docs.ros.org/en/jazzy/p/rtabmap_demos/
https://github.com/RPI-IGVC-2025/2026RobotCode/wiki/RTABMap-Arguments (Internal doc, shows all possible RTABMap args)

For information on robot_localization,
https://docs.ros.org/en/lunar/api/robot_localization/html/_downloads/robot_localization_ias13_revised.pdf <- great read in general
https://index.ros.org/p/robot_localization/#jazzy
https://docs.nav2.org/setup_guides/odom/setup_robot_localization.html <- straightforward guide

Your task has 3 parts:

1. Change parameters within RTABMap in order to implement anything that your teammates aren't covering (ie implement IMU, GPS, anything not directly related to RGBD VIO or LIDAR ICP)
2. Implement robot_localization as a separate node within our igvc_slam package using the information I linked
3. Investigate any implications or future work for the SLAM framework and open corresponding issues within git