Steven Desvars

## Desired behavior Similar to the tf publication on [odometry_publisher](https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/src/systems/odometry_publisher/OdometryPublisher.hh#L60-L62) and [diff_drive](https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/src/systems/diff_drive/DiffDrive.hh#L65-L67), allow the pose_publisher to choose the topic on which the tf would be published. ## Implementation suggestion A...