[ROS2][feat] Add domain_id parameter in launch files

Goal

To avoid interference between different groups of computers running ROS2 on the same network, a different domain ID should be set for each group.

Changes

• Add domain_id parameter in each launch file to manage ROS_DOMAIN_ID
• Set enviroment variable ROS_DOMAIN_ID in each launch file

Results

Commands to set domain_id

ros2 launch lidar_slam slam_velodyne.py domain_id:=3

ROS_DOMAIN_ID=3 ros2 bag play --clock path/to/bag