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[PN-97] Implement Spot's Robot State Publisher in C++  (#209)

- Add a C++-based Spot state publisher node, which replaces the previous functionality in the Spot Python driver.
- Update the spot_driver.launch.py launch file to start the new state publisher node.
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Co-authored-by: Joe Schornak <jschornak@theaiinstitute.com>
Co-authored-by: gremigi-bdai <146826329+gremigi-bdai@users.noreply.github.com>
Co-authored-by: Griswald Brooks <157394791+gbrooks-bdai@users.noreply.github.com>

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