add debug option to wind publishers

[j-herman]

We will not want to publish the wind speed and direction during the actual competition events. Some options for enabling/disabling these topics, in order of difficulty of implementation, are:

• add a tag to the wind plugin sdf, and set it to false when creating competition worlds (or, we could do the opposite and have it default to false)
• add an argument into launch.py that tells us whether we want to run in competition or debug mode, which adds topics to the bridge as needed
• change how we're selecting which topics to bridge/ publish, as described in the comments for 680

This PR implements the first option. To test, add the tag to a world file, launch vrx with that world, and observe that no data is published to /vrx/debug/wind/direction or /vrx/debug/wind/speed.

For example:

• add <debug>false</debug> to stationkeeping_task.sdf around line 604
• run ros2 launch vrx_gz competition.launch.py world:=stationkeeping_task
• run ros2 topic echo /vrx/debug/wind/direction

[tejalbarnwal]

Hey, I tested it out. It works flawlessly!

[j-herman]

@tejalbarnwal Thank you for the review! I'm going to hold this until we figure out the implementation for competition mode as we may want to change the method.

[j-herman]

@caguero Just confirming we don't need this before I close it - fully covered by the competition mode PR?

[caguero]

@caguero Just confirming we don't need this before I close it - fully covered by the competition mode PR?

Yeah, feel free to close it. We should be able to do it by isolating all Gazebo topics and only let the ROS 2 topics go through the competitors image.