Backport "Port point cloud transformation to numpy" (#507) to Humble

[christophebedard]

Description

#507 should be backported to Humble.

Motivation

tf2_sensor_msgs.py is currently just broken, see #773.

Design / Implementation Considerations

We should try to avoid breaking changes, but, in this case, the tool is just broken.

Additional Information

#520 (a follow-up fix) should also be backported.

[ros-discourse]

This issue has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-news-for-the-week-march-31st-2025/43015/1

[TannerGilbert]

@christophebedard I tried my hand at this backport #778. Result were tested with:

colcon test --packages-select tf2_sensor_msgs
colcon test-result --verbose

if there is anything else I need to consider please let me know.