Feature/new release small gicp AND CLEAN UP :)

[willat343]

The branches in Open3d_slam have gotten a bit messy, so i went and tested this branch on some ROS 1 datasets and it seems to run great.

Upon merging this back into main and make it the default ROS 1 commit for rsl_seam.

I also want to do some cleanup after taking a long look at the current Network graph:

1. Prune a few branches which are all contained within this one:

• feature/new_release_small_gicp (this one)
• fix/scan2scan
• fix/query
• feature/improved_build
• testing_parameters
• dev/faster

2. Prune old branches in main:

• hotfix/initialization
• fix/beni/initial_pose_in_degrees
• dev/beni
• dev/glog_and_opt
• ovysotska.add_install_instructions
• dev/fix_huge_bug

3. There are also a few dangling deployment branches which are pretty old and I think would be completely uncontroversial to prune:

• arammis/dev
• release/hike_stable and release/hike_20240624 and fix/gravity which all point to the same commit with a "controversial gravity fix" (if you want to keep this branch, i would turn it into a tag instead)
• dev/mit, dev/tunnel, dev/turcan_researcher_01_02 and dev/forest (which are all subsumed by dev/revision_submission
• `dev/getting_read_to_publish
• feature/william_deskew
• dev/julian_replay
• dev/open_lab_day
• dev/gravis (just 2 commits)
• dev/open3d_slam_mirror (just 2 commits)

4. Several branches off main can probably be deleted but it would be good to get a quick check from you @tutunarsl since these are yours but I suspect are fully stale now:

• step_by_step
• dev/improvements_to_main (last commit was "Confused")
• aesch/localization_mode

The branches i would definitely leave are:

• dev/yuni/f_rei (keep for now, a recent deployment branch)
• dev/jwolfram/social_nav (keep for now, a recent deployment branch)
• feature/b2w (the most up to date ROS 2 branch, actively developed)
• ros2jazzy (the branch for rsl_seam but I want to rename to ros2 and bring up to date with feature/b2w ASAP)

The branches I am not sure about but would ideally like to delete or merge:

• dev/grandtour contains 13 commits ahead of master, and is only a few minor commits behind master, perhaps we can cherry pick commits from here after merging this branch into main?
• dev/revision_submission has 21 commits ahead of main but is quite far behind main and very far behind the current branch

[willat343]

Deleted:

• feature/new_release_small_gicp (this one)
• fix/scan2scan
• fix/query
• feature/improved_build
• testing_parameters
• dev/faster

[willat343]

Deleted:

• hotfix/initialization
• fix/beni/initial_pose_in_degrees
• dev/beni
• dev/glog_and_opt
• ovysotska/add_install_instructions
• dev/fix_huge_bug
• dev/hike

[willat343]

Deleted:

• arammis/dev
• release/hike_stable and release/hike_20240624 and fix/gravity and added release/hike/stable_20240624 tag
• dev/mit, dev/tunnel, dev/turcan_researcher_01_02, dev/forest, dev/getting_ready_to_publish
• dev/gravis
• dev/julian_replay
• dev/open3d_slam_mirror
• dev/open_lab_day
• feature/william_deskew
• ros2jazzy (useless commits with improved rsl_seam)

[willat343]

@tutunarsl

Ok I've cleaned up quite a bit:

git checkout main
git fetch --prune # :smile: 
git pull

Added two tags so far (the PRs can also be tagged if rejected):

• release/hike/stable_20240624
• release/last_libpointmatcher

Here is summary of the remaining active branches:

• ROS1 branch as main. All generic changes and ROS 1 fixes should be PRed to main.
• ROS2 branch as dev/ros2. PR from feature branches and from main to this branch. In an ideal world, we support ROS1 and ROS2 on the same main branch, like in https://github.com/leggedrobotics/holistic_fusion
• feature/b2w is an active ROS2 feature branch (points to dev/ros2 at time of writing
• dev/jwolfram/social_nav is a potentially active ROS1 deployment branch
• dev/yuni/f_rei is a potentially active ROS1 deployment branch

For old feature branches which have significant code changes, there are now several PRs which changes that might or might not be beneficial to actually merge back into main (all are ROS1, instructions given per PR):

• [DON'T MERGE] Dev/better initialization #5 for branch dev/better_initialization (see also [PROBABLY DON'T MERGE] dev/alma_multi_robot #22)
• [MAYBE MERGE] Dev/revision submission #17 and then [MAYBE MERGE] Add research code directly #3 for dev/turcan_research branch and its extended dev/revision_submission branch
• [MAYBE MERGE] Aesch/localization mode #18 for aesch/localization_mode
• [MAYBE MERGE] step_by_step into main #19 for step_by_step
• [MAYBE MERGE] dev/grandtour into main #20 for dev/grandtour
• [MAYBE MERGE] dev/improvements_to_main #21 for dev/improvements_to_main
• [PROBABLY DON'T MERGE] dev/alma_multi_robot #22 for dev/alma_multi_robot