Fix ros2 colcon build paths and add ros2 build CI

[WoosikLee2510]

ROS2 docker build was a no-op - colcon paths were relative to the wrong dir so it built 0 packages. Fixed the paths so the full workspace builds on Humble, plus a small mins_eval ros2 cmake fix (it links mins, which exports libpointmatcher, so that needs to be in scope). Added a ROS2 build workflow + badge to gate PRs on Humble. Compile-only for now, will add a sim smoke-run once the ros2 launch/config is wired up.

[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)	133.982 +/- 0.315	133.851 +/- 0.092	-0.1%
RMSE pos (m)	0.080 +/- 0.013	0.079 +/- 0.014	-1.3%
NEES ori	3483289.100 +/- 1896029.000	2798665.600 +/- 49863.100	-19.7%
NEES pos	6.300 +/- 1.600	6.100 +/- 2.000	-3.2%
Time (s)	42.600 +/- 0.400	43.100 +/- 0.600	+1.2%

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)	21.100 +/- 0.500	20.600 +/- 0.200	-2.4%

stereo_lidar

Metric	master	PR	Delta (mean)
RMSE ori (deg)	0.360 +/- 0.131	0.383 +/- 0.113	+6.4%
RMSE pos (m)	0.144 +/- 0.034	0.156 +/- 0.032	+8.3%
NEES ori	13.100 +/- 10.200	14.300 +/- 5.600	+9.2%
NEES pos	63.300 +/- 41.300	58.700 +/- 43.600	-7.3%
Time (s)	42.500 +/- 0.500	42.400 +/- 0.300	-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)	23.900 +/- 0.300	23.900 +/- 0.400	+0.0%

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)	18.300 +/- 0.200	18.400 +/- 0.100	+0.5%