Feature/master and subscribers

[PilzES]

Description

These changes allow the user to to use the ROS package "psen_scan_v2" with: One PSENscan (Master or Light), and up to four PSENscan's (Master + Subscriber0 + Subscriber1 + Subscriber2).

** Implemented:**

• Run one scanner (Master, Light) or multiple scanners (Master + Subscriber0 + Subscriber1 + Subscriber2), and exchange the information provided by the scanners (scan data, scan counter, scanner ID, zone set, ....) with ROS.
• Exchange the information provided by the config.xml file with Master and Subscribers configuration with the active_zoneset_node and visualize the markers configured in the multiple Scanners.

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PR Checklist

Things to add, update or check by the maintainers before this PR can be merged.

• Public api function documentation
• Architecture documentation reflects actual code structure
• Tutorials
• Overview on ROS wiki
• Package Readme (example pilz_robots)
• Good commit messages (some tips)
• CHANGELOG.rst updated
• Copyright headers
• Examples

Review Checklist

• Soft- and hardware architecture (diagrams and description)
• Test review (test plan and individual test cases)
• Documentation describes purpose of file(s) and responsibilities
• Code (coding rules, style guide)

Release planning (please answer)

• When is the new feature released?
• Which dependent packages do have to be released simultaneously?

Hardware tests

Unstrike the text below to enable automatic hardware tests if available. Otherwise use this as a request for the reviewer.

• Perform hardware tests

[martiniil]

Good work! I am not sure if the existing tests do cover the new feature sufficiently. Did you consider? I am out of time now and will have another glance tomorrow.