Fixing a build issue related to GTSAM version and updating docker container to be require less custom setup

[sarika93]

Summary of changes

• Updating GTSAM version in rosinstall files to use the latest stable version 4.2.
  • Why? On the GTSAM develop branch, API-breaking changes are being introduced as they move towards version 4.3. The means the current rosinstall files produce a number of GTSAM-related build issues.
• Moving Docker-related files into a docker folder
• Updating the Dockerfile to:
  • include build args allowing users to:
    • specify the repo to clone (defaults to MIT-Spark/Kimera-VIO-ROS, but is useful when working with forks).
    • specify the branch to check out to (defaults to master, useful for testing changes during development).
    • specify the number of jobs when building (defaults to 4, but adds flexibility depending on users' devices).
  • include xvfb as it is needed for Rviz to work properly with Docker.
  • add ROS setup files to .bashrc since this is likely what a user needs this container to run.
  • use the https rosinstall instead of ssh file to avoid running into permissions issues when setting up the container.
• Adding a bash script to run an image with necessary X11 setup for using Docker with Rviz.
• Updating kimera_vio_euroc.rviz file for ease of use:
  • Changing background color to black so that the reference frame labels can be read
  • Changing the default fixed frame to odom. - Was not tested with loop closure enabled, but the default setup has loop closure turned off.
• Minor README changes.

Testing

For testing the Docker container:

1. To run the ROS wrapper in Docker, follow the instructions in Kimera-VIO-ROS/docker/README.md. Note this points to the README in the root folder at some point. The one on this branch should be used as there are updates to the online instructions. The command for building the container should be used with the following arg: build-arg BRANCH=gtsam_version_docker