Add LIO-SAM as an odometry strategy

[abhi2198]

Summary:

1. Add LIO-SAM as a new odometry strategy (Odom/Strategy 14) that uses the [lio_sam_core](https://github.com/abhi2198/liosam_nodelets) library for lidar-inertial odometry, with loop closure disabled (deferred to rtabmap)
2. Introduce kXYZIRT LaserScan format (x,y,z,intensity,ring,time) so per-point ring and time fields survive the scan pipeline end-to-end
3. Extend deskewing to support kXYZIRT, preserving ring data through the correction

Details

Build system (CMakeLists.txt, Version.h.in, corelib/src/CMakeLists.txt)

• WITH_LIOSAM option gated behind find_package(lio_sam)
• Links lio_sam_core library; defines RTABMAP_LIOSAM when found
• Status message at configure time

New odometry backend

• OdometryLIOSAM.h / OdometryLIOSAM.cpp — wraps lio_sam::LioSamCore
• Accepts async IMU via canProcessAsyncIMU(), feeds addImu() on
  every IMU sample
• Requires kXYZIRT scans; splits them into the three parallel buffers
  (PointXYZI + ring vector + time vector) that LIO-SAM expects
• Force-disables base-class deskewing since LIO-SAM handles it internally
• Returns incremental transform in base frame, with configurable
  linear/angular output variance
• Exposes LIO-SAM parameters (OdomLIOSAM/*) for sensor type, scan
  geometry, IMU noise, and feature thresholds

Registration in odometry factory

• Odometry.h: kTypeLIOSAM = 14
• Odometry.cpp: factory create() case
• Parameters.h / Parameters.cpp: strategy description updated,
  OdomLIOSAM/* params declared, --info output added

New scan format kXYZIRT

• LaserScan.h / LaserScan.cpp: enum value 12, 6-channel, with
  hasRing() / getRingOffset() / isScanHasRing() accessors;
  getTimeOffset() corrected for per-format channel layout; validation
  assertions updated
• util3d.h: PointXYZIRT PCL struct + POINT_CLOUD_REGISTER_POINT_STRUCT
• util3d.cpp: laserScanFromPointCloud(PointXYZIRT) overloads,
  laserScanToPointCloud2 routing for kXYZIRT

Deskewing

• deskew() format check relaxed from == kXYZIT to hasTime()
• Ring channel preserved through deskew when present; time zeroed
  post-correction
• Existing kXYZIT path unchanged

[matlabbe]

Thank you for this PR! Overall it looks good! I've already put some comments. I'll be pretty busy this week on a field test trip but I can make the suggested changes next weekend/week if you don't have time to do it this week.

[abhi2198]

@matlabbe I have addressed all the PR comments. I have updated the Lio_sam fork with a paramserver as well. Let me know if I missed anything. Liosam refactored repo - https://github.com/abhi2198/liosam_library