Add support for PicoScan performance profile parameter in launch file

[paulinelvne]

Add basic support for setting the PicoScan's performance profile parameter from the launch file.

For now, we can set the "performance profile" parameter from 0 to 9. With those changes we are able to set the performance profile number when calling SickScanApiInitByLaunchfile, by adding an argument like this:

./sick_picoscan.launch hostname:=<LIDAR_IP> performanceprofilenumber:=9

Issues remaining:

• passing a value of 10 (for Prime and Pro models of PicoScan) does not work
• when sending commands to the lidar, the "sendMultiScanStartCmd()" function is called when using a picoscan. It seems to be working but a bit strange.

[rostest]

Thank you very much for this pull request. We will discuss a possible support of Profiling Systems with SICK and will come back to it.

[rostest]

Thanks again for the PR. It will be merged into the next release. Note that picoScan lidars support profiles from 0 to 9 (a value of 10 is not supported).

[paulinelvne]

I've just tested with a performanceprofilenumber = 0, it doesn't work.
The only performanceprofiles that work are those from 1 to 9, which is problematic because you can't set profile 10 (40Hz 0.125°).

Thank you for your time

[rostest]

@paulinelvne Profile 10 can be set, but has to be encoded with hexvalue 0xA in the SOPAS command. Please find an update in branch https://github.com/SICKAG/sick_scan_xd/tree/feature/picoscan_performanceprofile, which merges your PR incl. the conversion to hexvalues.