Compatibility with Ubuntu 20.04 Focal

[mantkiew]

This branch is used by wise-ads for Ubuntu 20.04 Focal. DO NOT REMOVE.

• CMake 3.16, which is Ubuntu 20.04 provided version
• Use C++17
• Upgrade wave_geometry to the latest master.
• Upgrade googletest to the latest master.
• Added libboost-dev, yaml-cpp, eigen, geographiclib as a rosdep
• Added rosunit as test rosdep
• Compatibility with GTSAM 4.0.3 release
• Remove the no longer necessary hack for yaml-cpp
• Use OpenCV 4.2
  • Switch to cv::FastFeatureDetector::DetectorType and remove the redundant tests
  • Switch to cv::ORB::ScoreType and remove the redundant tests
• Reduce console spamming for ground segmentation

Pre-Merge Checklist:

• [X] Code is documented in doxygen format
• [X] Code has automated tests
• [X] Zero compiler warnings
• [X] Formatted with clang-format