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Port support for Ceres 2.1.0 Manifold class into ROS 2 Iron #367

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Port support for Ceres 2.1.0 Manifold class into ROS 2 Iron #367

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Port support for Ceres 2.1.0 Manifold class into ROS 2 Iron.
See the ROS 1 PRs for more details

This is identical to PR #366, except the last two commits containing formatting changes specific to ROS 2 Rolling/Ubuntu Noble.

@svwilliams
Support gcc12 and ceres 2.1.0
d106225 
* Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
* General clean up for Ceres 2.2.0 support
* Updated serialization support to be backwards compatible with previously serialized files
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@DavidLocus DavidLocus DavidLocus approved these changes

@carlos-m159 carlos-m159 carlos-m159 approved these changes

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@svwilliams @carlos-m159 @DavidLocus