add a 'rate' parameter in the xrce published topics to reduce the bandwidth

[negre]

Solve Issue #19081

Solved Problem

Allow to set the maximal published rate of a given uxrce topic.

Fixes #19081

Solution

• Add a parameter 'rate' in the file 'dds_topics.yaml'
• Change the dds_topics.h.em template to save the last published time for configured topics and ignore the xrce publication if the time elapsed is too short when the uorb topics is updated.

Test coverage

SITL tested.

[dagar]

Good idea, I've been thinking about doing this across the board with uORB::SubscriptionInterval, but I'm also worried about doing it in such a way it's going to scale to a large number of topics.

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/reducing-data-rate-in-uxrce-dds/35837/1