ROS-119: ouster-ros driver automatic reconnection

[Samahu]

Related Issues & PRs

• closes Ouster (sensor.launch) Retry connecting to sensor instead of crashing #55
• includes Handle cases of the lidar sensor becoming unpowered during operation #119
• related Reconnection behavior #233
• resolves Reconnection to sensor #332
• related [ROS2] Launching nodes when the lidar is not yet powered #337

Summary of Changes

• Implement sensor reconnection behavior
• Handle sensor reconfiguration from a cold start
• Add a flag to enable sensor reconnect (default disabled)
• properly handle config change outside of the ros driver
• only persist config startup config if persist_config was set
• only auto_udp if startup config didn't set an address
• added a parameter to set the dromant period between re-connection attempts
• added a parameter to set the maximum number of subsequent failed re-connection attempts

TODO(s)

• handle sensor reconfiguration from a cold start
• properly handle config change outside of the ros driver

Known Issues

• RVIZ can't handle image resize
• Can't handle points cloud resize properly (erroneous or corrupt PointCloud)
• Doesn't handle invalid configurations gracefully

Validation

• Use the driver with default configuration to connect to a sensor & verify normal activity
• Enable the attempt_reconnect parameter and verify that it works as expected for the following scenarios
  • Starting from an under powered or unconnected sensor
    • Connect or power up the sensor
    • Verify the driver connects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • Disconnect the sensor and reconnect it
    • Verify the driver connects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • power down the sensor and power it up
    • Verify the driver connects successfully within 10-15 seconds (and adjusts to sensor persisted config if different)
  • Using a powered up and connected sensor
    • Use set_config to change sensor configuration
    • Verify the driver reconnects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • Change some setting on through the sensor configuration page
    • Verify the driver reconnects successfully within 10-15 seconds

[Samahu]

We used to create the 2nd topics only if the current profile supported DUAL returns, however, since the user can potentially switch between different profile on reconnection it wouldn't bound well that we create and destroy topics when switching between dual vs non-dual for downstream consumers.

[celentes]

Would be good to have max_reattempts parameter for some cases - it makes sense to have when sensor connection has been dropped, may not make sense to have when first spinning up the sensor though.