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ros2: Only subscribe to /gazebo/performance_metrics when necessary (#…
…1205) We are currently subscribing to the /gazebo/performance_metrics topic even if there are no subscribers to the ROS topic forwarding this data. This changes gazebo_ros_init to only subscribe to the gazebo topic if there are any subscribers to the corresponding ROS topic. While advertiser callbacks are used in ROS 1 but are not yet in ROS2, here we use polling in the GazeboRosInitPrivate::PublishSimTime callback to check for subscribers since it is called for each Gazebo time step. This also helps workaround the deadlock documented in #1175 and gazebosim/gazebo-classic#2902. This also adds a macro to reduce duplication of the version checking logic. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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