Speedup the ray_ground_classifier implementation
Description
Improving ray_ground_filter would reduce the delay between getting the lidar's data and actually using it. There is a few places for optimisation in the ray_ground_filter packages. There is also room to make it multi-threaded to further speed it up.
Definition of Done
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Speed up the sequential version. -
Make the ray aggregator thread safe. -
Make ray_ground_filter_node process several rays in parallel.