Rework lidar to better support testing and listeners.

Messaging/message_factory.py

@@ -8,12 +8,10 @@ class ZmqPubSubStreamer:
     '''
 
     def __init__(self, port):
-        # Should create the socket here always, since zmq is not thread safe.
-        # Hopefully whoever uses this is not stupid enough to create it then
-        # pass it into a thread.
         self._socket = zmq.Context.instance().socket(zmq.PUB)
         print('Starting socket with address: ' + 'tcp://*:' + str(port))
         self._socket.bind("tcp://*:" + str(port))
+        
 
     def send_message(self, message):
         '''