Use LMS1xx reported configuration instead of capabilities for angle_min, max, etc...

I ran into a problem when using the lms1xx driver on my robot.  We configure our lms1xx for a 190 degree FOV rather than the default 270 degree FOV.  I found that the lms1xx driver did not support this, so I have modified the driver to query the lms1xx for its configured output range and used the values reported to set the angle_min, angle_max, num_values, and time_increment fields of the LaserScan message.

Note that I have evey expectation that this would work on an lms1xx that has not been custom configured, but I do not have the ability to test this code on a stock lms1xx.

--wpd

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