Make per-topic QoS configurable and improve auto-selection

[AnthonyCvn]

Summary

The agent currently picks QoS generically. We should allow users to override QoS per topic/regex and make the auto-selection more transparent.

Current behavior

• If any publisher is BEST_EFFORT → subscribe with sensor_data (BEST_EFFORT/VOLATILE, depth≈10)
• Else if any publisher is TRANSIENT_LOCAL → RELIABLE/TRANSIENT_LOCAL (depth=1)
• Else → RELIABLE/VOLATILE (depth=100)
• If no publishers yet → default to sensor_data

Problems

• Some deployments want RELIABLE even for sensors (record-everything).
• Some “static” topics need custom depth.
• It’s not obvious to users which QoS was chosen at runtime.

Proposal

1. Config overrides: support a qos_overrides section in params.yml:

   qos_overrides:
     - match: "/camera/.*"
       reliability: BEST_EFFORT
       durability: VOLATILE
       depth: 10
     - match: "/tf_static"
       reliability: RELIABLE
       durability: TRANSIENT_LOCAL
       depth: 1