Implement use of sonar msg

[tylerlum]

Issue: stage_ros previously treated sonars and lasers as the same type of device and published their data both with the same laser msg type. They both had fov, min/max range, etc. The difference was that sonars have 1 sample and lasers have many. All ranger(laser and sonar) devices in stage had their data published as sensor_msgs/LaserScan msg type, even if they were sonars, but a desired behaviour would be publishing sonar data as sensor_msgs/Range msg type.

Solution: separate all (rangers) -> (sonars + lasers). Then publish laser data as sensor_msgs/LaserScan msg type and sonar data as sensor_msgs/Range msg type. However, stage currently does not differentiate between sonars or infrared devices, so they are all assumed to be infrared