Publish tf_static with transient_local durability

[chapulina]

• Targets Framework to view the buoy on RViz #50
• Requires Feature: set QoS options to override durability (#250) gazebosim/ros_gz#259

Tracking down the issue

@quarkytale , I figured out what the tf_static issue was. It turns out it's a QoS mismatch. I found out because when I tried to view TF with

ros2 run tf2_tools view_frames

I'd see a message saying

[WARN] [1655778779.765880584] [view_frames]: New publisher discovered on topic '/tf_static', offering incompatible QoS. No messages will be received from it. Last incompatible policy: DURABILITY

Then with the following, I saw that the subscriber was expecting TRANSIENT_LOCAL durability (i.e. latched message)

ros2 topic info /tf_static -v

Changes

• Override the durability for the tf_static topic using a parameter on the launch file. That requires #259 to be merged upstream.
• Remove the static transform that was filling the gap so far
• Depend on ros_ign_bridge - that helps when building in a colcon workspace, and should also help CI / releasing
• Reduce the static publish frequency to 1 Hz (it defaults to 50Hz), because that doesn't change anyway
• Use the model frame MBARI_WEC instead of the canonical link frame MBARI_WEC/Buoy for odom. That's the proper frame to use, because in the future we may add an offset between these 2.

[quarkytale]

Thanks for looking into this!