How to modify LIDAR returns

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@avdev Currently the majority of Autoware.ai assumes that the lidar being used is a Velodyne lidar. Since this is the case, it would be using the open-source Velodyne ROS driver. The driver reads the raw data as UDP packets from a network interface and translates them first into "scans," then into sensor_msgs/PointCloud2 messages. After that, you can easily modify the point cloud. If you want the data at a lower level, you'll either have to modify the Velodyne driver or use something like PCAP/WireShark to capture the raw network packets.