Create Publisher in RealtimePublisher

[mamueluth]

This PR aims at creating the publisher inside the RealtimePublisher simplifying the creation of RealtimePublisher.

I chose to just add another constructor where you can pass the node and topic as well as qos on which we want to publish. I left the old constructor to give the user the flexibility to create or pass their own publisher if they want to.

If this approach is thought to simple let me know and i can change the implementation in a more desired direction.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 86.66667% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.23%. Comparing base (534bfab) to head (fc1f537).

Files with missing lines	Patch %	Lines
realtime_tools/test/realtime_publisher_tests.cpp	86.84%	2 Missing and 3 partials ⚠️
...ools/include/realtime_tools/realtime_publisher.hpp	85.71%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #469      +/-   ##
==========================================
- Coverage   85.33%   85.23%   -0.10%     
==========================================
  Files          17       17              
  Lines        1398     1443      +45     
  Branches      132      137       +5     
==========================================
+ Hits         1193     1230      +37     
- Misses        119      122       +3     
- Partials       86       91       +5     

Flag	Coverage Δ
unittests	85.23% <86.66%> (-0.10%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...ools/include/realtime_tools/realtime_publisher.hpp	89.58% <85.71%> (-0.67%)	⬇️
realtime_tools/test/realtime_publisher_tests.cpp	89.39% <86.84%> (-3.47%)	⬇️

... and 1 file with indirect coverage changes

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[christophfroehlich]

Have you installed pre-commit? ;)

What would be a usecase for still passing a publisher to the constructor, and not deprecating the old API?

[saikishor]

Suggested change

	explicit RealtimePublisher(std::shared_ptr<rclcpp::Node> node, const std::string & topic_name,
	template <typename NodeT>
	explicit RealtimePublisher(NodeT node, const std::string & topic_name,

[saikishor]

What about a variadic template to parse these arguments directly. It would be cool?