Instrument metrics in optimization and collator

Measure time delay metrics to estimate possible drift components of (pure) localization.

• time delay between node creation and a constraint between the current trajectory and the frozen map was optimized
• time when such node was created
• time delay between range data enters and leaves Collator
• time delay between range data enters LocalTrajectoryBuilder and LocalSlamResult is returned
• time when oldest such range data entered latest LocalSlamResult