RSDK-3545 - add sensor process

[kim-mishra]

Ticket

• SensorProcess polls the lidar to get the next sensor reading and adds it to the mapBuilder by calling addSensorReading in a loop and exits if the context provided is canceled. It also starts the background log process
• startBackgroundLogAggregator logs the failure counts on a time interval provided by the caller
• addSensorReading checks if the metadata from the GRPC call has a timestamp, if it does it calls addSensorReadingFromReplaySensor otherwise It calls addSensorReadingFromLiveReadings
• addSensorReadingFromReplaySensor continuously calls cartofacade.AddSensorReading until it can acquire lock, and increments the failure count of this time stamp each time it fails
• addSensorReadingFromLiveReadings calls cartofacade.AddSensorReading once, and skips the reading if it cannot acquire the lock, and increments the failure count of this time stamp once
• There is also a change to the testhelper file so that we can mock a replay sensor that returns a corrupted time stamp that would not be able to be parsed

Questions:

1. Right now, I keep track of the number of failures for each time stamp and on a frequency that can be set by the caller, log for each timestamp. Is this sufficient?

[kim-mishra]

I think when we log the failures, it will not always be up to date because there is no lock right now. I thought about adding a lock, but think it would cause performance issues and that given the aggregation of failures it is not as crucial to get the exact number of failures at that instant logged. Thoughts?

[nicksanford]

Suggested change

	err = pointcloud.ToPCD(reading, buf, 0)
	err = pointcloud.ToPCD(reading, buf, pointcloud.PCDBinary)

[nicksanford]

PR moved to: #185