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[feat][fix] Update Hesai Lidar handling

Julia Sanchez requested to merge fix/HesaiDefault into master
  • Enable advanced arrays by default for Hesai data.
    • This allows to use SLAM directly on input data
  • Update Hesai plugin with multiple fixes
    • The new plugin allows to choose dual return mode to avoid having a majority of double points
    • The new plugin has new checks to reject invalid points

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