Previously, lidar conversion node considers the pointcloud from sensor is always
assembled in the order. So a frame duration is computed by time of the first and
the last point.

Sometimes pointcloud from the sensor driver can have an abnormal time order
due to the packet loss. Now the duration is computed by the min and max value
of time in a pointcloud.

The datatype of ring field is uint16 now. Please see in
https://github.com/ouster-lidar/ouster-ros/blob/master/include/ouster_ros/os_point.h

[fix] Fix manually set input array not set correctly

See merge request !434

[fix] Fix loop closure bugs

See merge request keu-computervision/slam!429

comment

[refact] Use std::make_unique for newer g2o version

See merge request !431

[refact] Add warning non existing preset property

See merge request !427

[PV][feat] Initiate a toolbar with a preset manager dialog

See merge request !405