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[fix] Fix raw points from !284

Julia Sanchez requested to merge fix/FixRawPoints into feat/ROS2

Fix bugs from MR284

  • Fix DeviceId : add cast + add device_id computing for forgotten node.
  • Fix Estimate Time : modify computations for EstimateTime + change EstimateRpm to EstimateFrameTime (from rotations per minute to duration of a frame) and does the needed changes.

Now EstimateTime approximates the time of a point with precision to 1/10th of a microsecond.

Edited by Jeanne Faure

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