Support URG for SLAM sample

[ShotaAk]

What does this implement/fix?

• SLAMサンプルをURGに対応させます。
• このPRはDashing（dashing-devel）とFoxy（foxy-devel）の両方に対応します。

Does this close any currently open issues?

How has this been tested?

Any other comments?

Checklists

• [x] I have read the CONTRIBUTING guidelines.
• [x] I have checked to ensure there aren't other open Pull Requests for the same change.