Remove clamping from lidar noise

[peci1]

🦟 Bug fix

Fixes #131

Summary

This PR removes clamping from application of lidar noise. The clamping generates wrong points for missed rays, as it clamps even the +-Inf values to the lidar range. Removing the clamping might lead to having some points with distance larger than range_max of the sensor, but I'd argue that's okay in case of noise. If not, then the code should explicitly check to not clamp infinite values.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
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[iche033]

looks good to me and fixes the issue. I don't have a physical lidar to validate whether or not it's possible to return data larger than the max range in their spec.

I checked the depth camera (and rgbd) implementation, and the values are clamped in the shaders after adding noise. So I'm leaning towards adding a isinf check here to be consistent with the behavior of other depth based sensors, e.g.

        if (!std::isinf(range))
        {
          range = ignition::math::clamp(range,
              this->RangeMin(), this->RangeMax());
        }

[peci1]

Okay, being consistent is good. I just swapped !isinf for isfinite to also correctly cover NaNs.