Nacho/sync ros wrappers

[nachovizzo]

After #171 and #163 got merged, the ros1 wrapped diverged a bit.

In this PR, I'm only modifying the source code (not the logic) such that the difference between both wrappers are minimal. This way, it should be easier to maintain both in the future.

CC @roncapat:

I only changed the sensor_msgs::msgs::msg::PointCloud2::UniquePtr since I found no difference in the implementation:

  template<typename Deleter = std::default_delete<
      sensor_msgs::msg::PointCloud2_<ContainerAllocator>>>
  using UniquePtrWithDeleter =
    std::unique_ptr<sensor_msgs::msg::PointCloud2_<ContainerAllocator>, Deleter>;

  using UniquePtr = UniquePtrWithDeleter<>;