Feature request

Feature description

Bring over the range sensor layer for ultrasonic and single point TOF/laser range sensors from here http://wiki.ros.org/range_sensor_layer

Implementation considerations

Planning on keeping to the same general framework as the ROS1 version but moving to the nav2_costmap_2d directory with the proper adjustments in order to allow it to operate like the existing ROS2 costmap layers. I am planning on tackling this myself.