Add Pulsar HealthCheck support

[smbecker]

What this PR does / why we need it: Adds health check support for Pulsar

Does this PR introduce a user-facing change?: It adds a new package to support Pulsar health checks

Please make sure you've completed the relevant tasks for this PR, out of the following list:

• [X] Code compiles correctly
• [X] Created/updated tests
• [X] Unit tests passing
• [X] End-to-end tests passing
• [X] Extended the documentation
• [ ] Provided sample for the feature

[smbecker]

This has been sitting for quite some time. Is there anything that I can do to get some forward progress on getting this merged?