added Profiling Sonar elements

[olayasturias]

Adding the source code of the Profiling Sonar sensor, and modifying the required files for including it. I also created a new xml called cirs_profiler.xml, formed by the same cirs.xml scene with a Profiling Sonar added to the ROV. The profiling sonar has the following params that can be configured in the xml:

• initAngle: angle in degrees where it starts the scan
• finalAngle: angle in degrees where it finishes the scan
• angleIncr: step (in degrees) between measurements (beams)
• range: maximum range of the beam (maximum distance that can be measured)
• fov: angle in degrees of the beam. Being the beam a cone, fov would be the angle in the vertex.

It publishes the measurements in a LaserScan ROS message.

I added by mistake the files uwsim/data/scenes/xacroExample.xml and uwsim/include/uwsim/SimulatorConfig.h, please don't merge them, they don't contribute to the sensor functioning!

[dcentelles]

I am very sorry for the delay. This software has not been maintained for two years. I'm the new maintainer and i'll do what I can to maintain it. Please try to make this interesting contribution in the new branch "melodic-devel" and without adding the files xacroExample.xml and SimulatorConfig.h and I will try to merge the changes. Thank you.