Changes from ROS2 Gem to ROS2Sensors Gem

[jhanca-robotecai]

ROS2 Gem, which implements Lidar sensor (and many others) will be split into multiple Gems following the RFC: o3de/sig-simulation#96

Some ongoing work in ROS2 Gem is already happening. I was testing it against RGL and found out that some changes are needed - please find a draft PR ready.

This change should be integrated into the codebase after the RFC is fully implemented.

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