Support LiDAR

[onkoe]

Erases any proof of the depth camera and replaces it with our new LiDAR system.

Changes

• Remove depth camera support
  • Removed
• Add LiDAR support
  • Add new package, soro_lidar (from my repo)

Checklist

• Merge Support new GPS #151, then rebase on main afterward
• Remove depth camera stuff
  • Ensure there's nothing remaining in the URDF/SDF
• Configure Nav2
  • Remove fake laser scan from global_costmap
  • Configure spatio_temporal_voxel_layer, a (much) faster Nav2 plugin for 3D mapping from things like LiDAR
• Add LiDAR to Rover's chassis URDF
  • Add test that tf tree is as expected
  • Position correctly (might need more steps run Gazebo on Jetson so we'll see)
• Add pointcloud_to_laserscan node
  • Double-check that this is required; is there no way for slam_toolbox to use PointCloud2?
• Test on the Rover

Testing

• Test on the Rover directly.
• We cannot test in the simulator on Humble right now; the virtual wheel driver doesn't exist for Humble -- only for Jazzy.