Add Topic Statistics Options to be configured via Parameters

[dabonnie]

Description

Instead requiring a user to manually enable and configure Topic Statistics via NodeOptions, allow them to enable and configure Topic Statistics through Parameters.

The following should be configurable at runtime:

• enable / disable
• publish period (also serves as the collection window)
• published statistics topic

Test Plan

• Manual testing on all (Windows, OSX, Linux) platforms
• Unit tests for any new methods / classes
  • custom launch files to ensure all parameters are configurable
• Run ROS2 CI Job for relevant platforms and packages
• Test with composeable nodes

Documentation Plan

• wiki update
  • tutorial
  • concepts
• update demo

Release Plan

• check in PR

Acceptance Criteria

• Code has been implemented, reviewed and merged.
• Test plan has been completed
• Release plan has been completed

Once all above items are checked, this story can be moved to done.

Resources

• ROS 2 Topic Statistics Meta Ticket