feat: unify tf frame parameters between transform and cloud nodes

[wep21]

a part of #434 ros2 porting of #344

• Unify tf frame parameters between transform and cloud nodes

At this point there is no need any more for cloud node because transform node includes all features of cloud node.

• Reformat code slightly to avoid roslint errors

• Use boost bind instead of lambdas to add support for kinetic

• Fix some search and replace errors in comments

• Add fixed_frame and target_frame params back

• Use more common ROS terminology instead of 'htm'

• Undo renaming of publisher and subscriber

• Just use tf listener when necessary

• Migrate package to tf2

• Explicitly store sensor frame in a dedicated variable to make code easier to read

• Reformat code slightly to avoid roslint errors

• Avoid unnecessary transforms when sensor_frame == target_frame

• Fix comments

Co-authored-by: anre andreas.reich@unibw.de

[wep21]

FYI @JWhitleyWork @clalancette

[wep21]

@JWhitleyWork @clalancette friendly ping

[wep21]

@JWhitleyWork @clalancette friendly ping