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[fix] Fix some issues from !315

Julia Sanchez requested to merge fix/FixDeviceID into master

Bug explanation

The config files were specialized for Velodyne and did not work plug and play for other models (with other frame_id)


Create the special 1 Lidar case which always get the device ID : mainLidar


This MR contains some refact for style/alignement and adds missing const/ref

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