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[SW-2328] ROS 2 control pose broadcaster (#656)

## Change Overview

Adds a `spot_pose_broadcaster` controller plugin that exposes the low level `odom_t_body` and `vision_t_body` poses.

New TF frames: they are the same as `<spot name>/odom` and `<spot name>/vision`, respectively, but obtained through the joint level API and are broadcasted at 333 Hz
* `<spot_name>/low_level/odom`
*  `<spot_name>/low_level/vision`

New published topics, which contain the same transforms but in ROS Pose msg form:
* `/<spot name>/spot_pose_broadcaster/odom_t_body`
* `/<spot name>/spot_pose_broadcaster/vision_t_body`

largely based off of https://github.com/ros-controls/ros2_controllers/tree/humble/pose_broadcaster

## Testing Done

- [x] Tested in mock mode, which sets both of these to identity transforms
- [x] Tested on robot, verified that the location matches the high level robot state equivlaent
- [x] Tested with and without namespace set
- [x] Existing unit test still passes

![low_level_frames.png](https://graphite-user-uploaded-assets-prod.s3.amazonaws.com/Xynj6CBpA3NqqBFfE8Q9/a0fed399-a15e-4aa4-afdc-ff821aef293d.png)

[Screencast from 05-01-2025 12:59:18 PM.webm <span class="graphite__hidden">(uploaded via Graphite)</span> <img class="graphite__hidden" src="https://app.graphite.dev/api/v1/graphite/video/thumbnail/Xynj6CBpA3NqqBFfE8Q9/dacfdf79-45a8-43f9-b994-7331028137fc.webm" />](https://app.graphite.dev/media/video/Xynj6CBpA3NqqBFfE8Q9/dacfdf79-45a8-43f9-b994-7331028137fc.webm)

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Jobs
ID Job ID Ran Files Coverage
1 unittests-python - 14845257933.1 7
38.88
 GitHub Action Run
2 unittests-cpp - 14845257933.2 50
69.45
 GitHub Action Run
Source Files on build 14845257933