[LIDAR] Add Support For RPLidar Lineup

Information:

For development, we use YDLidar X2 / X2L to cut expenses. (sub $99)

For product, we aim to support some more reliable and popular sensor lineup.

Solution:

RPLidar is the Lidar product line of one of the most famous lidar producer SLAMTEC.

We are interested in their A1-A3 lidar product, they are lightweight, low power consumption and well supported by ROS link to ROS package.

For more information about RPLidar, checkout: https://www.slamtec.com/en/Lidar/A3#

Model Comaprison:

Item	Measurement Performance
Distance Range	Measurement Resolution	Angular Resolution	Sample Rate	Working Environment
RPLIDAR A1M8	0.15m －12m	＜0.5 mm	≤1°	2000 – 8000 Hz	Indoor
<1% of actual distance *
RPLIDAR A2M6	0.2m – 18m	<0.5 mm	≤0.9°	2000 – 8000 Hz	Indoor
<1% of actual distance *
RPLIDAR A2M8	0.15m －12m	<0.5 mm	≤0.9°	2000 – 8000 Hz	Indoor
<1% of actual distance *
RPLIDAR A3M1	White object: 25 meters		0.225°	16 kHz or 10 kHz	Indoor & Outdoor
Dark object: 10 meters
RPLIDAR S1	White Objects: 40m	3cm	0.313°-0.587°	9200 Hz	Indoor& Outdoor
Black Object: 10m
SLAMTEC MAPPER M1M1	20m	5cm		7000 Hz	Indoor & Outdoor
YDLidar X2	8m	2cm (when range <= 1m)	0.9°	3000 Hz	Indoor