Fix get_samples function 
# What does this PR do ?

Update and remove unnecessary parts in `get_samples` function. "int" type setting is no longer needed. 

Removed `get_samples` function from [decoder_timestamps_utils.py](https://github.com/NVIDIA/NeMo/pull/5141/files#diff-6e1688943c976f39bdee5fed0c8948f57c88411cfb69548b7fece4b9f7720912) since it is almost the same as get_samples function in [streaming_utils.py](https://github.com/NVIDIA/NeMo/blob/a17a69dea4f8768c0c444573c5a5c499c1e6e2ef/nemo/collections/asr/parts/utils/streaming_utils.py)


**Collection**: 
ASR

# Changelog 

- Remove unnecessary `int16` dtype and float conversion lines
- Keep the output data format as float
- Update librosa resample argument requirements

# Usage

Check out streaming_asr tutorial notebook.

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**PR Type**:
- [ ] New Feature
- [x] Bugfix
- [ ] Documentation

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