Add 3D LIDAR support

[osrf-migration]

Original report (archived issue) by Kevin Allen (Bitbucket: kev-the-dev).

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Add simulation xacro and (if needed) plugins for simulating a 3D scanning LIDAR, similar to a Velodyne puck.

This will be useful for the RobotX teams which use a sensor like this and could be a standard sensor for the virtual competition.

Gazebo7 supports the simulation of sensors like this using the gpu_sensor. For getting this sensor to interface with ROS, there are a few options:

• The velodyne_simulator contains a plugin to simulate a velodyne, publishing the same output as the real velodyne driver. Downside: somewhat specific to velodyne sensor

• gazebo_ros_block_laser plugin in gazebo_ros_pkgs. Downsides: publishes the legacy PointCloud message instead of PointCloud2 (which may make it incompatible with some higher level software) and it does NOT support gpu based simulation.

• The gazebo_ros_ray_sensor plugin in my recent Pull Request to gazebo_ros_pkgs. This provides something similar to gazebo_ros_block_laser but uses the newer message standard and supports either CPU or GPU simulation. Downside: not currently merged (may never be merged into kinetic), so would likely have to import it into this repo

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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• changed state from "new" to "resolved"

Added in pull request #41.