feat: enable IMU

[wenli7363]

1 Purpose

1. Remove the ENABLE_IMU_DATA_PARSE option in CmakeLists.
2. add enable_imu_data:=true command in ROS start scripts.

So you only need to build it once, and then dynamically control IMU_data by specifying the enable_imu_data option of the startup scripts.

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2 How to use

1. ROS1: roslaunch rslidar_sdk start.launch enable_data_imu:=true
2. ROS2: ros2 launch rslidar_sdk start.py enable_data_imu:=true
3. humble: ros2 launch rslidar_sdk humble_start.py enable_imu_data:=true
4. eloquent: ros2 launch rslidar_sdk elequent_start.py enable_imu_data:=true

when you don't use this option explicitly, the default value is false.

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3 How to achieve this feature

1. Remove all static compilation instructions related to ENABLE-IMUDATA-PARSE
2. Refer to the startup script code and define a parameter variable enable_imu_data in the ROS node
3. At startup, rslidar_sdk_node. cpp reads the parameter values from the ROS node and passes them to the NodeManager instance. When the NodeManager instance initializes (Function NodeManager:: init ), it passes them to the SourceDriver instance and stores the value of enable_imu_data in a private member variable, which controls whether IMU related functions are started or not

The transmission process of enable_imu_data value: ROS node -> rslidar_sdk_node.cpp ->NodeManager -> SourceDriver