Laser ID mapping arg becomes optional

Nicolas Cadartrequested to merge
OptionalLaserIdMapping into master

laserIdMapping becomes an optional arg for SLAM and SSKE. If not provided, laser ids won't be modified, and scan lines will be added when a new ring is met.

There is one commit which is just reordering code. It completely pollutes the diff. Consider reviewing by commit instead of viewing all changes.

@julia.sanchez @nick.laurenson PTAL

Edited by Nicolas Cadart

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