ROS driver for MappyDot Plus TOF sensor(s)

This is a ROS node for the MappyDot plus over I2C. It supports reading from multiple MappyDot plus devices.

Parameters:

device (string) -- the path to the i2c device. Default is /dev/i2c-1. Use i2cdetect in the i2c-tools package to find out which bus your IMU is on.
address (list of ints) -- the i2c addresses of the MappyDots. Default is [ 8 ].
frame (string) -- name of the frame. Default is "tof".
x (list of floats) -- the x translations of the sensors. Default is [ 0.0 ].
y (list of floats) -- the y translations of the sensors. Default is [ 0.0 ].
z (list of floats) -- the z translations of the sensors. Default is [ 0.0 ].
yaw (list of floats) -- the yaws of the sensors. Default is [ 0.0 ].

/ranges (std_msgs/Float32MultiArray) -- raw range data from individual sensors
/scan (sensor_msgs/LaserScan) -- an assembled LaserScan from all the sensor ranges and the sensor locations