feat: velodyne lidar azimuth correction

[ike-kazu]

PR Type

• Improvement

Related Links

Description

I fixed #112 azimuth correction function pr. It was reverted.
This pr makes nabula velodyne detecoder lighter.

Review Procedure

Remarks

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

[mojomex]

@ike-kazu thank you for the PR, great work!
There's a few minor things I'd like you to change, mostly removing debug comments.

I still have to test the decoder with a real sensor.

[vividf]

I checked the azimuth value with atan2(y, x) and LGTM!

[mojomex]

Everything looks good, but could you quickly remove the two submodules that were erroneously added?
Thank you!

[mojomex]

Hi, I just merged the current main branch into your PR but it seems that this PR:

• fix(nebula_tests): correct scan cutting in VLS128 unit test ground truth #150
  produces a conflict in the VLS128 unit tests (that PR modified the Rosbag used, so the unit tests of this PR fail now).

Could you regenerate the VLS128 unit test .pcd file once more?
Sorry for the extra work this causes 🙇‍♂️

[mojomex]

I took the liberty to remove transport_drivers again 😉
LGTM!