Change imu and image topic names.

They need to be remaped to the correct ones on runtime by command line or launch file
Remove MTI_DEVICE parameter

The mti data is read from topic, remaped at runtime, so this parameter
is no longer needed.
Add replay enum to help reading of replay option on simplemain.hpp
Fix definition of mode based on replay and dump options
Add random seed option
Wait for the topics to be published before entering on the main loop
Set start date according to options
Fake the image processing if in replay online no slam
Add some comments and fix identation (I kinda have toc with it)
Wait for the display to be ready at the begining of main function