Kai Pastor c5b5b4ea11
[rtabmap] Fix platform and linkage support (#37651)
`rtabmap-res_tool` is moved to a separate port because it is a host
dependency, and actual dependencies of `rtabmap` are heavy and non
opt-out. Only minimal patching needed.

Co-authored-by: Alexander Neumann <30894796+Neumann-A@users.noreply.github.com>
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