[HUMBLE|IRON|JAZZY] Port ROS-363 to ROS2

[Samahu]

Related Issues & PRs

• ported_from [NOETIC] Further reduce overhead in the ros driver #363
• related Loss lidar packet messages (ROS melodic) #10
• related Filter out points below/above a certain range #152
• related Reduce Vertical resolution for improving performance of the driver #175
• resolves RAW option for proc_mask #238
• resolves Bring back optional publishing of lidar and imu packets to new single nodelet driver #251
• resolves Image gaps while LidarScan from LidarPackets #259
• resolves deprecated declarations #304
• related Lidar points dropped in ros bag record #306
• resolves "DROPPING PACKET" and "70% full, THROTTLING" #352

Summary of Changes

• Update to SDK client 0.11.1
• Switch to using LidarPacket and ImuPacket
  • Get's rid of the deprecation warnings
• Publish raw packets for the os_driver
• Add a flag to control the publish of organized point cloud vs non-organized
• Add a flag to control the publish of destaggerd point cloud vs staggered
• Add parameter to set the min/max lidar range on generated point clouds
• Add a new flag to proc_mask to optionally publish the raw packets when using os_driver

TODO(s)

• publicize the use of OpenMP in cartesianT & point_cloud_compose methods

Validation

• Run the driver in all different modes of operations
• Verify that the newly added features:
  • When destagger is set to false verify the driver doesn't destagger the published point cloud
  • When organized is set to false verify that the published point cloud isn't 2D
  • Adjust min_range and max_range and observe the point cloud shrink accordingly.
• Verify that /ouster/imu_packets and /ouster/lidar_packet appear when RAW flag is passed to os_driver

[matthew-lidar]

Out of scope, but the language on these comments is confusing. The wording implies that when set to OFF it builds these options.