[feat] ROS2 Node!

[contagon]

FORM officially has a ROS2 node! Should be just as easy to build as FORM itself:) It's really just a small wrapper around FORm.

Mostly based off of KISS-ICP's ROS2 node, so super thanks to them!

[Copilot]

Pull request overview

Adds a ROS 2 wrapper around the FORM LiDAR odometry estimator, including PointCloud2 conversion utilities, TF/odometry publication, and RViz/launch tooling to run and visualize the system from a ROS workspace.

Changes:

• Introduces a ROS 2 component node (EstimatorNode) that subscribes to PointCloud2, runs FORM, publishes nav_msgs/Odometry, and optionally publishes debug point clouds + TF.
• Adds PointCloud2 conversion/helpers (FORM feature vectors ↔ ROS PointCloud2; Pose3 ↔ geometry_msgs).
• Adds ROS packaging/build tooling and user-facing artifacts (launch file, RViz config, README, pixi environment, package.xml/CMake).

Reviewed changes

Copilot reviewed 16 out of 18 changed files in this pull request and generated 13 comments.

Show a summary per file

File	Description
ros/src/utils.hpp	ROS/GTSAM/PointCloud2 helper utilities for frame IDs, pose conversions, and debug cloud publishing.
ros/src/ros_pc2.h	Converts incoming PointCloud2 messages into organized form::PointXYZf vectors.
ros/src/node.hpp	Declares the ROS 2 estimator component node interface.
ros/src/node.cpp	Implements subscription, parameter wiring, TF lookup/broadcast, odometry publishing, and debug map publishing.
ros/launch/odometry.launch.py	Launches the node, optional RViz, and optional rosbag playback.
ros/rviz/form.rviz	RViz display configuration for odometry and debug clouds.
ros/README.md	Usage/build/run documentation for the ROS wrapper.
ros/pixi.toml	Pixi-based dev environment tasks/dependencies for building/running the ROS wrapper.
ros/package.xml	ROS package manifest for dependencies and build type.
ros/CMakeLists.txt	Builds the ROS shared library component and installs launch/RViz assets.
form/mapping/map.hpp / form/mapping/map.tpp	Adds a to_vector() export for keypoint maps (used for visualization).
form/form.hpp / form/form.cpp	Exposes Estimator::current_map() for visualization consumers (ROS node).
.gitignore / .gitattributes	Repo hygiene updates (ROS build artifacts, lockfile attributes).

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