[rtabmap] update to 0.23.7

[matlabbe]

• Changes comply with the maintainer guide.
• SHA512s are updated for each updated download.
• The "supports" clause reflects platforms that may be fixed by this new version, or no changes were necessary.
• Any fixed CI baseline and CI feature baseline entries are removed from that file, or no entries needed to be changed.
• All patch files in the port are applied and succeed.
• The version database is fixed by rerunning ./vcpkg x-add-version --all and committing the result.
• Exactly one version is added in each modified versions file.

What changed

• For the new patch, it is a fix that happened after 0.23.7 tag has been created: introlab/rtabmap@9d30b17
• 0.23.7 has two new CLI tools, we added them
• Removed the stale rtabmap:arm64-windows=cascade entry from scripts/ci.feature.baseline.txt.

Here is what Claude had to say why we updated rtabmap feature baseline for arm64-windows:

Why

When bumping rtabmap to 0.23.7, CI failed the feature-test check with:

ci.feature.baseline.txt:1288:1: error: rtabmap[core]:arm64-windows passed but was marked expected to be a cascaded failure
(also for core,opencv-contrib / opencv-nonfree / openmp / octomap / tools / gui)

The baseline marked rtabmap on arm64-windows as cascade (i.e. expected to be
skipped because a dependency isn't supported on that platform). That is no
longer true: rtabmap's entire core dependency chain builds on arm64-windows, so
rtabmap[core] and most feature combinations now build successfully — which
conflicts with the cascade expectation and fails CI.

The cascade entry predated arm64-windows dependency support maturing and was
simply never cleaned up. Because vcpkg only feature-tests ports that are edited
in a PR, the stale expectation was never re-checked until this version bump
triggered a fresh run and exposed it.

Scope of the change

• Removed only the blanket rtabmap:arm64-windows=cascade line.
• Kept the genuinely-still-cascading feature entries, which remain correct:
  • rtabmap[k4w2,openni2](arm | !windows)=cascade (kinectsdk1/kinectsdk2)
  • rtabmap[opencv-cuda](!x64 | android | osx)=cascade (cuda)
  • realsense2 cascades automatically via its own platform restriction
• Kept rtabmap:arm64-linux=cascade — that one is still valid, because
  rtabmap's core deps g2o and opencv still cascade on arm64-linux.