Towards MRPT 3.0.0

[jlblancoc]

Motivation for the redesign

At present, installing most mrpt packages on any minimal docker image or headless PC would lead to installation of hundreds of dependencies, mostly required by GUI & OpenGL parts, even if not needed in those systems.

The plan

Release to-do list here upstream:

• Refactor mrpt-opengl in two modules: one with the abstract representation of graphics, and one with their actual implementation using OpenGL.
• Split applications in cli & gui apps. The same for libmrpt-apps itself.
• Investigate surge of deps in mrpt-imgs (opencv?)
• Take ROS 1 & ROS 2 stuff out of this main repo to their own ones.
  • mrpt-ros{1,2}bridge repo => https://github.com/MRPT/mrpt_ros_bridge
  • rosbag2rawlog repo: unify ROS1 & ROS2 in one repo with two branches. https://github.com/MRPT/mrpt_ros_bridge
  • Refactor rosbag2rawlog bag-reading part into ros-bridges?
• Create separate config.h files for each module:
  • core
  • opengl successors
  • hwdrivers
  • math?
• Limit dependencies even at the cost of usability: hwdrivers shouldn't depend on gui

Plus new features:

• zstd is a must: Consider adding zstd as default compression method #1306
• mrpt-math: New TOrientedBoundingBox, complementary with the axis-aligned TBoundingBox
• unembed exprtk: Bug#1094437: mrpt: please consider unembedding exprtk.hpp

Post-release list for Debian:

• Reorganize d/control for dependencies and new packages
• Split apps into cli & gui.
• Submit ITP for new ROS1 lib & app package.

Post-release for ROS:

• Submit for index:
  • mrpt-ros1bridge repo
  • mrpt-ros2bridge repo
  • rosbag2rawlog repo: unify ROS1 & ROS2 in one repo with two branches?
• Remove rosbag2rawlog from mrpt_navigation.
• Update all dependent pkgs (!)