Add ROS1 build CI and simulation regression report

[WoosikLee2510]

ROS1 build CI for melodic + noetic (each runs a quick sim smoke test), plus a sim-based regression report on PRs: runs a few seeds per sensor config (stereo, +lidar, +gps, +wheel, full) for master vs the PR and posts an accuracy/consistency/timing table. Report only, doesn't block merge. Replaces docker-image.yml + updates the badge.

Kinetic 16.04 left out for now (old Eigen on Xenial). First run here is the live test.

[github-actions]

Simulation regression report - master vs PR

8 seeds/config, sim UD_Warehouse, informational only (does not block merge).
Delta is PR relative to master (mean). Lower is better for RMSE / Time; NEES closer to ~1-3 is well-calibrated.

full

Metric	master	PR	Delta (mean)
RMSE ori (deg)	133.876 +/- 0.109	133.847 +/- 0.126	-0.0%
RMSE pos (m)	0.080 +/- 0.013	0.082 +/- 0.010	+2.5%
NEES ori	2806573.200 +/- 73269.200	2848729.500 +/- 178349.000	+1.5%
NEES pos	6.400 +/- 1.700	6.400 +/- 1.400	+0.0%
Time (s)	42.000 +/- 0.300	41.900 +/- 0.200	-0.2%

stereo_gps

Metric	master	PR	Delta (mean)
RMSE ori (deg)	0.158 +/- 0.033	0.158 +/- 0.033	+0.0%
RMSE pos (m)	0.076 +/- 0.012	0.076 +/- 0.012	+0.0%
NEES ori	4.400 +/- 2.100	4.400 +/- 2.100	+0.0%
NEES pos	3.800 +/- 1.200	3.800 +/- 1.200	+0.0%
Time (s)	18.300 +/- 0.100	18.800 +/- 0.300	+2.7%

stereo_lidar

Metric	master	PR	Delta (mean)
RMSE ori (deg)	0.372 +/- 0.102	0.377 +/- 0.123	+1.3%
RMSE pos (m)	0.164 +/- 0.036	0.150 +/- 0.038	-8.5%
NEES ori	13.700 +/- 5.800	13.600 +/- 10.200	-0.7%
NEES pos	64.000 +/- 42.700	58.600 +/- 61.800	-8.4%
Time (s)	42.800 +/- 0.400	42.700 +/- 0.200	-0.2%

stereo_wheel

Metric	master	PR	Delta (mean)
RMSE ori (deg)	133.843 +/- 0.057	133.843 +/- 0.057	+0.0%
RMSE pos (m)	0.085 +/- 0.028	0.085 +/- 0.028	+0.0%
NEES ori	2035390.700 +/- 42925.400	2035390.700 +/- 42925.400	+0.0%
NEES pos	28.200 +/- 38.400	28.200 +/- 38.400	+0.0%
Time (s)	22.700 +/- 0.300	22.600 +/- 0.200	-0.4%

vio_stereo

Metric	master	PR	Delta (mean)
RMSE ori (deg)	0.174 +/- 0.036	0.174 +/- 0.036	+0.0%
RMSE pos (m)	0.111 +/- 0.032	0.111 +/- 0.032	+0.0%
NEES ori	2.000 +/- 0.900	2.000 +/- 0.900	+0.0%
NEES pos	12.600 +/- 16.500	12.600 +/- 16.500	+0.0%
Time (s)	19.500 +/- 0.700	19.600 +/- 0.300	+0.5%