Update for Ceres 2.2 and Ubuntu Noble

[schornakj]

Hello!

I'm using this project on Ubuntu 24.04, which requires at least Ceres 2.2. These are the changes I needed to add to get the non-ROS part of this repo building (I'm using ROS 2 Jazzy so I haven't looked at the ROS 1 packages in this repo yet to see if they need to change).

• Update uses of some Ceres functions that already were deprecated or soon will be:
  • IsNaN -> isnan
  • GetParameterization -> GetManifold
• The minimum C++ version needs to be updated to C++17.

This raises a repo version management question: how should we handle changes that break compatibility with older OS versions? In other projects I've used different branches for each target platform (focal, noble, etc.). In contrast I think Tesseract just drops support for older platforms as the tagged release advances.

[marip8]

This raises a repo version management question: how should we handle changes that break compatibility with older OS versions?

Dropping support is one option, but not preferred if we can help it somewhat easily. What I did in industrial_calibration was add a preprocessor check for the version of Ceres, and I was able to fairly easily support focal, jammy, and noble.

On that note, I would recommend checking out the updated version of industrial_calibration instead of this repository. I've migrated all of the contents of RCT to industrial_calibration now, reorganized a bit for improved modularity, added GUIs for extrinsic hand-eye and intrinsic calibration, and added ROS-enabled data collection pipelines/utilties in separate industrial_calibration_ros<1|2> repos. I think it's in a better state than RCT at this point, and I would like to sunset development on RCT in favor of industrial_calibration.