refactor: make vendors independently buildable

[mojomex]

PR Type

• Improvement

Related Links

Description

This PR aims to separate out vendor-specific code such that it is independently buildable (e.g. only Hesai support) and independently maintainable.

All vendor-specific code is divided into separate packages: for each <vendor>, a colcon package nebula_<vendor> is created.
Each vendor package follows the same structure, akin to what we have had until now:

nebula_<vendor>           
  ├ src                   \    
  │ ├ common              │    
  │ ├ decoder             │    
  │ ├ hw_interface        │    
  │ └ ros                 │    
  ├ include               │    
  │ └ nebula_<vendor>     |    
  │   ├ common             \   `src`, `include/nebula_<vendor>` and `test`
  │   ├ decoder              > have the same directory structure.
  │   ├ hw_interface       /   Empty directories can be omitted.
  │   └ ros               │    
  ├ test                  │    
  │ ├ common              │    
  │ ├ decoder             │    
  │ ├ hw_interface        │    
  │ └ ros                 /    
  ├ schema                
  │ ├ common.json         
  │ ├ sensor_model_1.json 
  │ ├ sensor_model_2.json 
  │ └ ...                 
  ├ config                
  │ ├ sensor_model_1.yaml 
  │ ├ sensor_model_2.yaml 
  │ └ ...                 
  ├ launch                
  │ └ launch_<vendor>.xml <--- There is still a universal `nebula_launch.py` in `nebula_ros`.
  ├ CMakeLists.txt        <--- Helper CMake files are provided in `nebula_common` etc.
  └ package.xml           

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