Authenticated process does not subscribe to unsecure topics

[osrf-migration]

Original report (archived issue) by Nate Koenig (Bitbucket: Nathan Koenig).

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A process that uses authentication will only connect to secure topics. Would be nice if the subscriber could still connect to unsecure connections. This might require an unsecure and secure subscriber.

See https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-transport/pull-requests/236/wip-basic-authentication/diff#Lsrc/NodeShared.ccT1231