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[refact] Replace device_id by frame_id

Tong Fu requested to merge refact/ReplaceDeviceIdByFrameId into master


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


  • 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))


  • Test with ROS
Edited by Julia Sanchez

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