alfred-mls-nav on the single DimSlam module

[jeff-hykin]

Stacked on jeff/feat/dim_slam and jeff/fix/ray_tracing_tf; final branch of the stack.

• alfred-mls-nav runs the single DimSlam module: cuVSLAM on the D455 IR pair + ESKF over visual, wheel odometry and the D455 IMU, in one process
• merges the robot-proven alfred work from jeff/feat/alfred-mls-nav: rerun camera layout, D455 mount transform, world_frame="odom" on the voxel map, effector event-loop fix, 2 s replay buffer
• CuvslamOdometry + OdometryFusion blueprint pair replaced by one DimSlam.blueprint; alfred_cuvslam.py and odometry_fusion.py removed
• demo-cuvslam-replay moves to dimos/mapping/dim_slam and drives DimSlam

[codecov]

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