[ROS2] Expose the vertical beam reduction param #757

Job	Run time
build (rolling, rmw_fastrtps_cpp)	4m 59s
build (rolling, rmw_cyclonedds_cpp)	5m 1s
build (humble, rmw_fastrtps_cpp)	3m 58s
build (humble, rmw_cyclonedds_cpp)	3m 54s
build (iron, rmw_fastrtps_cpp)	4m 24s
build (iron, rmw_cyclonedds_cpp)	4m 12s
build (jazzy, rmw_fastrtps_cpp)	4m 32s
build (jazzy, rmw_cyclonedds_cpp)	5m 28s
	36m 28s

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