Refactor Velodyne Node for new sensor models and ros2 component pattern
Description
With the support of new velodyne driver models being implemented (!498 (merged)), Velodyne node must be templated to support varying sensor model drivers. When the velodyne node becomes templated, there would be need to implement an executable per template instantiation.
As an alternative we can just wrap the final instantiations into templateless nodes to be used as ros2 components:
class Vlp16Node : VelodyneNode<VLP16Driver>{
// component-friendly constructor here.
}
class Vls128Node : VelodyneNode<VLS128Driver>{
// component-friendly constructor here.
}
Expected behavior
Velodyne nodes have less boilerplate and complies with developer guidelines.
Definition of Done
-
A -
B