Port the changes to ROS2

[Samahu]

Related Issues & PRs

• Related Param min packets in cloud #268

Summary of Changes

• Skip the lidar_scan based on a predefined percentage of the minimum number of valid columns in scan

Validation

• Edit driver_params.yaml to set the sensor name and set min_scan_valid_columns_ratio value to a high value 0.9
• Launch a node as usual ros2 ouster_ros driver.launch.py
• Observe the warning messages whenever the number of valid columns drops below the set amount:

[ WARN] [1738283732.021510354]: number of valid columns per scan 160 which is below the ratio 90% SKIPPING SCAN
[ WARN] [1738283732.080962740]: number of valid columns per scan 304 which is below the ratio 90% SKIPPING SCAN