PR adds a flag to disable ignoring entities in the lidar link.
The reason for introducing this flag is incorrect entity exclusion for some URDFs that use the joint component. It has been noticed that when the lidar link is chained to another link with a joint component, the entity tree is simplified and the parent link becomes the lidar link. In such a case, the whole robot could be ignored from raycasting.
PR adds a flag to disable ignoring entities in the lidar link.
The reason for introducing this flag is incorrect entity exclusion for some URDFs that use the joint component. It has been noticed that when the lidar link is chained to another link with a joint component, the entity tree is simplified and the parent link becomes the lidar link. In such a case, the whole robot could be ignored from raycasting.