bdaiinstitute / spot_ros2 / 16499222913

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Robot state rate and image rate parameters (#709)

## Change Overview

Currently on main, robot state rate is hardcoded to 50 Hz and image publish rate is hardcoded to 15 Hz. This PR makes this info come from ROS parameters (while leaving the default behavior unchanged). 

## Testing Done

- [x] Tested on robot -- default behavior is unchanged, but I can manually lower the rate of state/image publishing by changing the new parameters

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