Fix(prefab): Lexus top velodyne orientation and frame naming

[kielczykowski-rai]

I noticed that the Lexus URDF tree is slightly different from what is expected on the Autoware sensor calibration files.

1. The VelodyneVLP16 GameObject was placed straight under sensor_kit_base_link instead of velodyne_top_base_link GameObject as other sensors in the Prefab.
2. The top velodyne lidar was missing the proper yaw orientation setting.
3. The velodyne_*_base_link naming seems to be obsolete in Autoware (example1, example2). Currently, all the frames are named velodyne_top, velodyne_right and velodyne_left

The proposed PR fixes the mentioned errors. State after fix can be seen in the image below

[mackierx111]

LGTM 👍