feat: Raycast implementation for ODE

[jmachowinski]

🎉 New feature

Followup to #880

This adds support for ODE for the raycast implementation, and therefore to the CPU-Lidar implementation.

Checklist

• [x ] Signed all commits for DCO
• Added a screen capture or video to the PR description that demonstrates the fix (as needed)
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• [x ] All tests passed (See test coverage)
• Updated Bazel files (if adding new files). Created an issue otherwise.
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[azeey]

Thanks for the contribution! Could you please fill out the PR template?

[jmachowinski]

codecheck` passed <- This throws pagewise unrelated warnings...

Note, for the tests, I needed to remove the unsupported 'banana' as this defaulted to ode, and was therefore supported.