Incompatibility with ouster-ros v0.10.0+

[jhughes50]

Ouster removed the px_range and px_signal methods from the packet_format object highlighted in the CHANGELOG. I did a lot of digging to find a new way to get range and signal data from column buffer. I implemented a solution using the col_field method. Additionally, a transform also wanted the ros time so I added that. This fixed all the build issues but there are now some runtime issues since our metadata is out of data, that I'm still working through but would like to push to a branch.

I also used this as an opportunity for code cleanup and documentation.

[versatran01]

Indeed, there has been significant changes to the ouster driver recently. This decoder is terribly outdated atm. One thing I suggest changing is to get rid of the driver.cpp and just use the ouster version. I forgot why I added it originally, probably due to some incompatible changes that ouster made.