SW-5657: Back port SW-5466 to ROS-1

[Samahu]

Related Issues & PRs

• parent SW-5466: Support Velodyne and other point types in ouster-ros driver #216
• resolves Change the format into velodyne format #15
• resolves Parameter for Controlling PCL PointType #29
• resolves Add low data rate point type #210
• resolves [ROS2] configurable pointcloud type #97
• related ROS ouster Point struct meaning, and Autoware implmentation for enhancing data field of Point  #217
• related Ability to add other channels (RGB etc.) when generating the PointCloud2 msgs #223
• resolves Consider changing ptp_utc_tai_offset default value #231 (adds a note to CHANGLOG.rst indicating that the default ptp_utc_tai_offset forms a breaking change).

Summary of Changes

• added the ability to customize the published point clouds(s) to velodyne point cloud format and
  other common pcl point types.
• made ouster_image_nodelet operate separately from ouster_cloud_nodelet
• added a note to CHANGLOG.rst indicating that the default ptp_utc_tai_offset forms a breaking change.
• require C++17 for the ROS1 driver starting with v0.11 (C++14 🙅)

Validation (TBD)

• Run the driver with default parameters and verify no observable behavioral changes.
• Change point_type parameter to native and verify that it reflects the same point cloud format that we get from the sensor.
• Change point_type parameter to xyz and verify that the published point cloud format only has xyz fields, regardless of the underlying sensor format.
• Change point_type parameter to xyzi and verify that the published point cloud format only has xyz fields plus intensity, regardless of the underlying sensor format (you should get a warning when the low data mode is selected for this mode).
• Change point_type parameter to xyzir and verify that the published point cloud format only has xyz fields plus intensity plus ring, regardless of the underlying sensor format (you should get a warning when the low data mode is selected for this mode).