Handle cases of the lidar sensor becoming unpowered during operation

[tombrodie]

Related Issues & PRs

• https://github.com/ouster-lidar/ouster-ros/issues/55

Summary of Changes

• Introduces a new launch argument retry_configuration (default false) which, when true, will continue to attempt to configure the lidar sensor if the sensor is uncontactable on initialisation instead of the current behaviour of the code crashing. Additionally, if the sensor becomes uncontactable during operation, this branch periodically attempts to re-establish a connection to the sensor using the configuration provided on initialisation.

Validation

• Tested with an OS0 lidar sensor for the cases of:

1. A powered sensor on code launch
2. An unpowered sensor on code launch
3. A powered sensor on code launch, then made unpowered, then made powered again

[Samahu]

@tombrodie thanks for your contribution, I will try to take a look at your PR towards the end of the last of the month.

[Samahu]

included/resolved by #362