Fix boost/std shared pointers

[andiburaschi]

As of Oct22, there are compilation errors around the use of boost shared pointers when pcl expects STL ones. Therefore:

• Some boost::shared_ptr instances were migrated to std::shared_ptr for compatibility with PCL APIs.
• Some publish method arguments were pointers and needed to be contents of the pointers. See: https://answers.ros.org/question/369946/pcl-complains-no-member-functions/
• Added implicit dependency to ensenso_sdk in package.xml file (camera).

[benthie]

Hi Andres,

thank you very much for contributing, we always appreciate the effort of other ROS users to improve our camera driver.

I had a look into the changes you made. Since we currently released v2.0.0 (and v1.7.1), there are some changes we made that affect the locations you modified in the code.

Due to the ROS1-ROS2 compatibility layer we introduced, the point clouds are now handled as std::unique_ptr in our code before they are converted to boost::shared_ptr when being published in ROS1.

Regarding the publishing: As in the ROS Publisher API, publishing as boost::shared_ptr is fine and allows for "fast intra-process message-passing".

Kind regards Benny