Made it possible to initialize LiDARSensor later so that it works with the built app.

[hijimasa]

In the previous version, the simulation was executed after the LiDARSensor settings were completed in the editor, and the Init function was called. However, in the built app, the Init function was called before the settings were made, resulting in a NullReferenceException. To ensure that the app works in the built version as well, I modified the code so that if an element is null, it is not initialized immediately but can be initialized later.

[Copilot]

Pull Request Overview

This PR updates the initialization logic for the LiDAR sensor components so that sensors can be initialized later in the built app without triggering exceptions.

• LiDARPointCloud2MsgPublisher now checks for a null source and logs an error before aborting initialization.
• RaycastLiDARSensor and DepthBufferLiDARSensor have been modified to check for a null scanPattern before executing initialization, delegating further logic to an overridden Initialize method.
• LiDARSensor now provides a virtual Initialize method that clamps sensor parameters and configures point cloud data only when the scanPattern is available.

Reviewed Changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 3 comments.

File	Description
Assets/UnitySensorsROS/Runtime/Scripts/Publishers/SensorMsgs/PointCloud2Msg/LiDARPointCloud2MsgPublisher.cs	Added null check for _source to prevent a NullReferenceException.
Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/RaycastLiDAR/RaycastLiDARSensor.cs	Switched to a deferred initialization pattern by checking scanPattern and overriding Initialize.
Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/LiDARSensor.cs	Modified Init to delay initialization when _scanPattern is not available and introduced Initialize.
Assets/UnitySensors/Runtime/Scripts/Sensors/LiDAR/DepthBufferLiDAR/DepthBufferLiDARSensor.cs	Applied a similar deferred initialization approach as with RaycastLiDARSensor.

[RyodoTanaka]

LGTM
I will merge it.