Remove unnecessary checking of topic globs.

[achim-k]

Public API Changes
None

Description
We do not have to check the topic globs on each incoming ros message. It is enough to check if the topic is allowed to be subscribed in the actual subscribe call as the message callback method (publish) is only called when the topic is subscribed to.

[achim-k]

CI failure is unrelated, seems to fail for all builds at the moment.

  1: Traceback (most recent call last):
  1:   File "/home/runner/work/rosbridge_suite/rosbridge_suite/ros_ws/src/phnk3mmp7y/rosbridge_suite/rosbridge_server/test/websocket/test_cbor_raw.py", line 13, in <module>
  1:     from twisted.internet import reactor
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/reactor.py", line 38, in <module>
  1:     from twisted.internet import default
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/default.py", line 56, in <module>
  1:     install = _getInstallFunction(platform)
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/default.py", line 44, in _getInstallFunction
  1:     from twisted.internet.epollreactor import install
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/epollreactor.py", line 24, in <module>
  1:     from twisted.internet import posixbase
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/posixbase.py", line 18, in <module>
  1:     from twisted.internet import error, udp, tcp
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/tcp.py", line 31, in <module>
  1:     from twisted.internet._newtls import (
  1:   File "/usr/lib/python3/dist-packages/twisted/internet/_newtls.py", line 21, in <module>
  1:     from twisted.protocols.tls import TLSMemoryBIOFactory, TLSMemoryBIOProtocol
  1:   File "/usr/lib/python3/dist-packages/twisted/protocols/tls.py", line 41, in <module>
  1:     from OpenSSL.SSL import Error, ZeroReturnError, WantReadError
  1:   File "/usr/lib/python3/dist-packages/OpenSSL/__init__.py", line 8, in <module>
  1:     from OpenSSL import crypto, SSL
  1:   File "/usr/lib/python3/dist-packages/OpenSSL/crypto.py", line 1553, in <module>
  1:     class X509StoreFlags(object):
  1:   File "/usr/lib/python3/dist-packages/OpenSSL/crypto.py", line 1573, in X509StoreFlags
  1:     CB_ISSUER_CHECK = _lib.X509_V_FLAG_CB_ISSUER_CHECK
  1: AttributeError: module 'lib' has no attribute 'X509_V_FLAG_CB_ISSUER_CHECK'

[achim-k]

@jtbandes could you PTAL?