Static Transform Publisher should use node interfaces

[Karsten1987]

Currently the static transform publisher requires a shared pointer to a complete node in order to create the publisher. This means, that as-is, this TF publisher can't be easily used in a composable node constructor, essentially because a shared pointer to this can't be created when the object itself is not fully created.

The feature request here is to use the NodeTopicsInterface instead and call create publisher on this instead of the full node instance.
See here:
https://github.com/ros2/rclcpp/blob/master/rclcpp/include/rclcpp/create_publisher.hpp#L28-L47

This will also ease up the tickets regarding the lifecycle nodes #94 and #95 as they also provide the node topic interface.

Similar work is started in here: #100