Add special case in parameter bridge for `tf_static`

[ibrahiminfinite]

This PR adds a special case in the bidirectional parameter bridge for the tf_static topic. This modification was made as part of a requirement to get the tf_static topic from ROS 2 into ROS 1 as a latched topic.

Making this PR in case this is of use to anyone else.

Suggestions for improvement are welcome

Known limitations:

The bridge connection from ROS 2 -> ROS 1 seems to be made only if the ROS 1 subscriber is running before the ROS 2 publisher. However, for the ROS 1 - > ROS 2 direction, the connection is immediately made when the ROS 2 publisher is active even without a subscriber.