Migrate to point_cloud_msg_wrapper

[esteve]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

The current codebase uses the PointCloud2Iterator class for handling point clouds. However, this translates into code that's brittle and unreadable. Point Cloud Message Wrapper provides a more robust and natural API for handling point clouds.

Purpose

Make the point cloud handling code more robust and readable

Possible approaches

Use point_coud_msg_wrapper to handle point clouds

Definition of done

The point cloud iterator classes from sensor_msgs are no longer used, in favor of point_cloud_msg_wrapper

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.