Feature/support asymmetric lidar #341
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Added support of asymmetric LiDAR like the Livox MID360.
Instead of introducing 2 new params for
a parameter called "vertical_fov_offset" (default: 0.) is introduced and allows to set the offset angle between the XY-plane of the lidar TF and the center of the vertical FOV.
Using an additional param instead of 2 new params prevents existing implementations from becoming faulty.