Adding undistortion to LiDAR scans

[smauq]

• Adding time units to internal LiDAR messages
• Removing LiDAR to image projection as the LiDAR camera model is error-prone, this projection should rather be done with ring and scan information (but it doesn't provide that much benefit). LiDAR compression should rather be done with dedicated tools.
• Added LiDAR undistortion based on current poses when integrating point cloud scans
• Added min / max distance settings to LiDARs
• Added a box robot filter for LiDARs to remove the robot or the operator from the point clouds.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test PASSed.

[ethzasl-jenkins]

Test PASSed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test PASSed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test PASSed.