feat(mapping): align looper bridge replay with /insight/vio_20hz

[junlinp]

Summary

• switch looper bridge pose source from /insight/vio_pose to /insight/vio_20hz
• simplify looper bridge by removing /tf_static dependency and using incoming pose directly
• add sync callback runtime logging for easier replay debugging
• update rosbag record topics to include /camera/camera/depth/image_rect_raw and /insight/vio_20hz
• add BagPlayer startup log of bag topic -> message type
• make run_rosbag_build_map.sh source selectable via mode: perception (default) or looper_direct

Motivation

Ensure looper-based map replay uses the same VIO topic recorded in rosbag and make sync failures easier to diagnose.

Testing

• python -m py_compile tool/looper_bridge_node.py
• python -m py_compile tinynav/core/build_map_node.py
• bash -n scripts/run_rosbag_build_map.sh

Notes

• No changes to map serialization format.
• Existing perception-based flow remains available as default mode in the build-map script.

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.15 s (267.5 files/s, 39215.8 lines/s)

Language	files	blank	comment	code
Python	12	580	249	3205
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	31	7	225
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	17	12	49
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	889	341	4635

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.12 s (342.5 files/s, 50357.4 lines/s)

Language	files	blank	comment	code
Python	12	580	250	3205
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	31	7	231
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	890	345	4647

[github-actions]

cloc	github.com/AlDanial/cloc v 2.04 T=0.15 s (268.3 files/s, 39457.5 lines/s)

Language	files	blank	comment	code
Python	12	580	250	3205
Markdown	4	155	6	426
C++	4	60	38	409
Bourne Shell	14	31	7	231
Dockerfile	1	30	29	189
JSON	2	8	0	58
TOML	1	4	0	57
make	1	18	15	55
CMake	1	4	0	17
--------	--------	--------	--------	--------
SUM:	40	890	345	4647