ROS2 driver MVP (beta release)

* Update to the latest ouster sdk
* Forward multicast funcitonality + Other improvements and fixes
* Add service_msgs dependency to package.xml
* Correct sensor_mtp.launch for ros2 launch file format
* Move to most recent SDK update
* Declare and fill defaults for mtp paramters + fix uninitialzed compute_to_scan
* Launch file rename and README corrections

…ith latched topics (#102)

* Working port of latched metadata topic on ros2
* Update replay and record launch files to providing metadata file an optional parameter
* Remove extra white space in replay record command
* Undo changes to the metadata-qos-override
* minor code syntax improvements
* Add missing metadata topic when bag file isn't specified
* Use concise syntax and formatting
* Reverse logic for easier read
* Apply node transition if it exists

…parameters (#115)

* deprecate tf_prefix from os_cloud (#96)
Co-authored-by: Guillaume Doisy <[email protected]>

* Squashed commit of the following:
commit 6280bfa1178bdee4fe695cb4752efd5ff15279db
Author: Ussama Naal <[email protected]>
Date:   Fri Apr 28 07:54:34 2023 -0700
    Merge branch 'deprecate_tf_prefix'

commit 35f2fd2
Author: Guillaume Doisy <[email protected]>
Date:   Mon Apr 3 18:12:44 2023 +0100
    deprecate tf_prefix from os_cloud

* Update ChangeLog and package version
* Propagate the parameters to launch files
* Add a TODO note
---------

Co-authored-by: Guillaume Doisy <[email protected]>

…ocess (#108)

* Remove the use of static vars within components
* Resolve conflicts and update changelog and version
* Fix a typo 'instance'

…124)

* use static tf broadcaster for ros2 (#112)
* use separate params for tf frames
* send static transforms once
* Disable static transform publishers and update changelog and package version
* Disable rviz static transform publisher
* Remove rviz static transform publisher hack
* Remove left out variables
---------
Co-authored-by: Adam Aposhian <[email protected]>

#140)

* Switch from using ROS timers to thread for polling
* Specify param defaults for non-required params

* Factoring out Imu and Lidar packets handling
* Added os_driver which combines os_sensor and os_cloud +
Added required launch files +
Better abstraction of classes +
Simplified threading logic +
Added thread safe implemention of ring buffer (not hooked yet)
* Move down pragma once in the handlers
* Adding unit tests for the ThreadSafeRingBuffer
* Add one more case to the unit test of ThreadSafeRingBuffer
* Quick hook up of the ThreadSafeRingBuffer for os_sensor and os_driver
* Add an option to select the point_cloud frame
* Keep transforms in Lidar Frame by default with option to switch
* Formatting os_sensor and os_driver
* Provide support for parsing the community driver params file with approprite launch file
* Factor out tf transforms broadcast
* Formatting imu and lidar packet handlers
* Fix build issue
* Incorporate LaserScan message composition
* Refactor a bit and add the ability to process and publish point clouds and laser scans
* Restor os_cloud_node ability to process point clouds
* Parse proc_mask and hook to launch files and config
* Add support for the selecting IMU + create topics/subs when their respective flags enabled
* Reduce sync operations + restore sensor reset/reactivation
* Add the ability to override current qos settings
* Add minor note
* More detailed explanation about the IMG node
* Rename the file os_sensor_cloud_image_params to os_sensor_cloud_image_params.yaml and update corresponding launch files
* Expose use_system_default_qos parameter to xml launch file and use proper defaults
* Update minimal readme file and utilize os_driver by default +
add proc_mask to xml file +
Remove experminal marker from set_config and reset ros services
* Update CHANGELOG.rst and package version
* Apply && to accepted method of ThreadSafeRingBuffer +
nits and code formatting
* Add missing parameter declaration
* Re-formatting CHANGELOG a bit
* Added ImageProcessor to support IMG flag +
Define new argument scan_ring
* Expose scan_ring param and update relevant params description
* Added notes to size(), empty(), full()
* remove deprecated methods + naming nits
* Update ChangeLog + Fix load_metadata_from_file
* Try out building against Iron + revise sensor_mtp.launch
* Correct the params file name + document params
* Carry over fixes from foxy branch
* Update README.md to mention compatibilty mode

* Separately initialize vector elements
* Update changelog and package version
* Properly check for the write_text_to_file success

…er-ros-foxy (#163)

* Initialize point_cloud_frame with an empty string + and expose point_cloud_frame through launch xml files +
Remove unused/duplicate param definitions + Update descriptions
* Correct the name of the node to be activated for merged node

* Merge ouster-srvs into ouster-msgs package + Update dockerfile + Other fixes and code improvements
* Update launch file name within the dockerfile
* Update CHANGELOG.txt
* Update ouster_ros package version to highlight the breadking change due obseleting ouster_srvs
* Use angle brackets for external headers
* Remove unused library include
* Remove unused launch params in sensor_mtp.launch
* Fix the table of contents

* Quick implementtion of cloud destaggering
* Perform destaggering of point clouds during the copy + add a viz-reliable file + wrap all classes in ouster_ros
* Update changelog and version
* Reformat changelog

* Implemented UTC/TAI offset for the PTP timestamp mode
* Make sure all the timestamp values of LidarScan are utc corrected
* Modify timestamp values before producing a PointCloud
* Remove no longer needed comment from the Dockerfile
* Destagger timestamp when generating destagger point clouds

…-to-connect-to-lidar' into ROS-209-process-hangs-on-failure-to-connect-to-lidar-foxy