Add support for pointcloud normals#35
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* remove unused 'ament_cmake_ros' * fix linked targets and replace deprecated 'ament_target_dependencies'
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Previously, open3d_conversions only migrated point fields that are supported by
sensor_msgs::PointCloud2Modifier::setPointCloud2FieldsByString, which does not include point normals. Open3D pointclouds support position, color, normals, and covariances. This PR moves away from usingsensor_msgs::PointCloud2Modified, which has awkward syntax (eg. fields cannot be added incrementally and must all be added in one monolithic step), and adds support for thenormal_x,normal_y, andnormal_zfields. This PR does not add support for covariance conversion.Two new tests were added to cover point normal conversions.