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Ubuntu 24.04 updates Ceres Solver to 2.2.0 which dropped support for LocalParameterization and suggests users to move to Manifold instead.
This commit fixes slam_toolbox build on Ubuntu 24.04 and simultaneously breaks it for Ubuntu 22.04 with Ceres 2.0.0
The code are copied from the official slam/pose_graph_2d example:
https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.2.0/examples/slam/pose_graph_2d/
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