[drivers] support for new RPLIDAR 360º laser scanner

[jmplaza]

This time we are not going to develop our own driver over the manufacturer software RoboPeak, instead we are going to use ROS driver and our (ongoing) compatibility library for ROS-messages. This low cost sensor delivers 2D scan with distances to obstacles (<6m) around (360º).

We will have to extend our ROS compatibility library to support ROS messages from this sensor.

[aitormf]

I have followed this instructions to try the sensor with official ROS Kinectics and it works well.

Also, I have created debian necessary packages of RPLIDAR for own ROS Kinectics version

[aitormf]

We need update Ice laser interface to support all necessary information of ROS LaserScan message. I have thought in:

Laser {
    int[] data
    int numLaser
    float min_angle
    float max_angle
    float max_range
    float min_range
   time_stampt
}

[aitormf]

I have a first approximation: rplidar_ros_node + kobukiViewer vs rplidar_ros_node + rviz:

I need put own ros laser listener in a separate thread to not block the entire Tool. Also we should think on paint points instead of lines.