Implement non-GPU active sonar for gazebo simulation

[oixel]

Currently, the active sonar is using Gazebo's built-in gpu_lidar sensor as a makeshift active sonar; however, this lidar requires a GPU, so an alternative using Gazebo's regular "lidar" sensor should be implemented.

The main issue with this is that unlike gpu_lidar, the lidar sensor does not automatically publish the LaserScan and PointCloudPacked messages.

[aaliao]

https://robotics.stackexchange.com/questions/110581/gz-harmonic-is-there-a-lidar-sensor-that-is-meant-to-be-used-on-a-machine-with

^ possible solution for someone with the same issue