Support different point_step sizes in for point-cloud messages
Description
Currently the nodes handling lidar messages do not support different point_steps. It would be useful to support different sizes.
Purpose
To use point_cloud message from lgsvl simulator which includes an extra timestamp field (point_step = 24)
Desired Behavior
I expect to be able to publish pointcloud messages from the lgsvl simulator directly (without running the velodyne node) and be able to use ray_ground_filter and other perception nodes on it.
Definition of Done
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Be able to accept variable (or a larger range) of point_steps (24 is of particular interest).