[refact] Replace device_id by frame_id

Goal

Previously, device_id was set by a uint8 value. Now, it is replaced by frame_id which is received directly from the driver.

Changes

• Replace device_id by frame_id. This change appears both in SLAM and in ros_wrapping
• Remove device_id field from LidarPoint
• These changes are also done for ros2_wrapping (MR !318 (merged))

Todo

• Test with ROS