Update gtsam to match required Kimera-VIO version

[e3m3]

Move the kimera-gtsam branch to a release version matching Kimera-VIO's dependency requirements (see Kimera-VIO installation).

[mateosss]

I'm having an issue when following the install_deps.sh script from ILLIXR likely due to the old gtsam version that does not have GncOptimizer.h.

/opt/ILLIXR/Kimera-RPGO/src/RobustSolver.cpp:16:10: fatal error: gtsam/nonlinear/GncOptimizer.h: No such file or directory
   16 | #include <gtsam/nonlinear/GncOptimizer.h>

[mateosss]

I was able to solve the issue by moving Kimera-RPGO to MIT-SPARK/Kimera-RPGO@31cbeec and then cherry-picking MIT-SPARK/Kimera-RPGO@3003ed9