Use of diagnostic aggregator package

[SteveMacenski]

Use the ROS diagnostics to give info about the sensor on the diagnostics topic for debug. This is common for drivers to use to report issues for later debugging and error handling.

The original ROS1 drivers and the CPFL fork didnt implement them, but this would be a good feature for someone to add.

[windelbouwman]

Using the diagnostic_updater seems the way to go here, refer to this example for ideas on usage:

https://github.com/ros/diagnostics/blob/galactic/diagnostic_updater/src/example.cpp

[vinnnyr]

@SteveMacenski is this implemented? Maybe I am just having trouble finding it :thinking: