Configure scanner based on node configuration

[maracuya-robotics]

You can set a number parameters specific to the scanner hardware in the ROS node. It looks like these parameters are only used for diagnostic and probably interpretation purposes. Some features of the scanner can be configured via HTTP requests.

Would it be feasible to change these parameters on the scanner during start of the node if it is wanted by the user (e.g. setting a parameter configure_scanner to true)?

[JWhitleyWork]

There are two reasons that this cannot be done with the current version of the driver:

1. The driver does not implement programming of the configuration packets necessary to configure the Velodyne devices over Ethernet.
2. The HDL-64E does not support configuration over Ethernet, only via RS-232/Serial.

If you would like to add the functionality to configure the Velodyne devices which allow for Ethernet configuration, we would be happy to consider a Pull Request. However, it would come with the caveat that the additional configure_scanner (or similar) parameter would not be available for the HDL-64E.

[JWhitleyWork]

See #199 for more information.