[ROS2][Refact] Replace device_id by frame_id

Goal

The last update of feat/ROS2 w.r.t master is up to MR !272 (merged):

commit 70beae853fc5ee7ba20dfe84c4e398e22bee8d5e
Merge branch 'ROS/feat/ForceMultiLidar' into 'master' 

This MR has goal to update feat/ROS2 until MR !293 (merged):

commit 50270238935280c7036d2090ceeaccb986587476
Merge branch 'ROS/fix/build/FixCompilationWithPCL' into 'master' 

The following MRs are concerned:

• MR !322 (merged) [doc][refact] Update doc and refact for loop closure
• MR !315 (merged) [refact] Replace device_id by frame_id
• MR !323 (merged) [ROS1][feat] Update wheel encoder
• MR !327 (merged) [fix] Fix some issues from !315 (merged)
• MR !301 (merged) [fix] Update CI
• MR !293 (merged) [build][fix][ROS] Fix build issues

Changes

Add missing documentation for multilidar use

To catch up MR !322 (merged):

• Add namespace for external sensor and pgo constraint in ros2 wrapping.

To catch MR !315 (merged) and MR !327 (merged):

• Replace device_id by frame_id that the information can be obtained from lidar frame header in ros2_wrapping
• Remove functions, parameters who are relevant to device_id of LidarPoint since device_id is removed from LidarPoint.
• Uniformize lower case for lambda function

Update MR !301 (merged) ([fix] Update CI) into feat/ROS2

Update MR !293 (merged) (build][fix][ROS] Fix build issues)

To do

• Test after MR !315 (merged) merged
• Rebase MR!312 after merged
• Check CI of feat/ROS2 is updated w.r.t MR !301 (merged) @arthur.bourbousson Could you double check for CI that there is nothing to do for feat/ROS2
• MR !320 (merged): Catch up for MR !323 (merged) (Update wheel encoder)