Commits on Jun 6, 2023

1. Fix incorrect subscription on demo …

   This PR fixes an incorrect subscription on one of the demos. Running
   ```
   ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py
   ```
   causes rviz2 to crash and exit with the error:
   ```
   rviz2-3]
   [rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
   [rviz2-3] This error state is being overwritten:
   [rviz2-3]
   [rviz2-3]   'create_subscription() called for existing topic name rt/lidar with incompatible type sensor_msgs::msg::dds_::PointCloud2_, at ./src/subscription.cpp:146, at ./src/rcl/subscription.c:108'
   [rviz2-3]
   [rviz2-3] with this new error message:
   [rviz2-3]
   [rviz2-3]   'invalid allocator, at ./src/rcl/subscription.c:218'
   [rviz2-3]
   [rviz2-3] rcutils_reset_error() should be called after error handling to avoid this.
   ```
   This is due to an incorrect subscription on the part of the demo. This
   PR fixes it by getting a subscription to the right topic for the
   pointcloud display. (`lidar/points` instead of `lidar`). Was tested on
   garden + humble.
   
   Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>

   

   arjo129 committed Jun 6, 2023
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