Merge branch 'main' into 'devel'

# Conflicts:
#   .gitlab-ci.yml
#   CMakeLists.txt
#   include/publisher_imu_bias.h
#   src/publisher_imu_bias.cpp
#   src/publisher_map_grid_2d_gravity.cpp
#   src/subscriber_imu.cpp
#   src/subscriber_imu_enableable.cpp