Add optical frame publisher from subt/mbzirc

[mjcarroll]

🎉 Add Optical Frame Publisher

Summary

This is a utility that is used frequently enough, I think that it makes sense to include here. This transforms images (and optionally camera info) into the ROS coordinate conventions from those that gazebo uses.

I have written it as a component, which can take advantage of intraprocess communication where available.

Test it

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[mjcarroll]

This is going to be retargeted to galactic, and I have also made an effort to robustify tests here: https://github.com/gazebosim/ros_gz/pull/272