refactor(velodyne)!: combine Velodyne ROS wrappers into a single node

[mojomex]

PR Type

• Improvement

Related Links

TIER IV INTERNAL LINK -- corresponding issue
TIER IV INTERNAL LINK -- detailed article

This PR depends on the following PR being merged first:

• refactor(hesai)!: combine Hesai ROS wrappers into a single node #127

This PR fixes the following issues (for Velodyne only):

• Enhancement: allow dynamic scan message size to reduce latency #94
• Improve the overall performance #109

Description

This PR combines the Velodyne Driver, HW Interface and HW Monitor wrappers into one. For more info, refer to

• refactor(hesai)!: combine Hesai ROS wrappers into a single node #127

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[knzo25]

Not only for this one, but copyright files are missing.
Did we decide on header blocks or pragmas?

[mojomex]

Not only for this one, but copyright files are missing. Did we decide on header blocks or pragmas?

@knzo25 Thanks for the reminder! @drwnz and I just discussed that this would be best done in a separate PR. Maybe together with enforcing pre-commit since it also checks for copyright

[mojomex]

🟢 Self-Evaluation

All tests have been performed on a VLP32 sensor.

🟢 Pointcloud output with default parameters
🟢 HW Monitor is publishing diagnostics continuously

[knzo25]

(I don't know if me being the reviewer is on purpose or it was assigned automatically after made some comments but other that the nit, which can be ignored, LGTM)

[drwnz]

HW monitor needs a bit of tidying but for this PR, LGTM!