fix building on Ubuntu 24.04

[981213]

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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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu 24.04
Robotic platform tested on	A rosbag I recorded last year

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Description of contribution in a few bullet points

• fix building with ceres 2.2.0 on Ubuntu 24.04

Description of documentation updates required from your changes

None

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Future work that may be required in bullet points

• This breaks building with ceres 2.0.0 on Ubuntu 22.04. Do not merge until it's time to switch OS version.