Add RViz control and visualization

[E-Krantz]

Summary

This PR adds RViz-based visualization and interaction to the BSK-ROS 2 MPC controller and updates timing and QoS handling for compatibility with the latest Basilisk-ROS 2 bridge.

Changes

• Added RViz support for commanding a single-spacecraft reference and visualizing planned trajectories and path history.
• Added ROS 2 QoS profile consistent with the bridge's default.
• Added optional use of the /clock topic for simulation-time synchronization.

Compatibility

These changes are intended to be used with the following bridge update:
DISCOWER/bsk-ros2-bridge#10

[E-Krantz]

@Thomas-Chan-2019, can you check this PR too?

This PR requires: DISCOWER/bsk-ros2-bridge#10

After building both this package and the bridge, run:

Terminal 1 (Bridge):

source install/local_setup.bash
ros2 launch bsk-ros2-bridge bridge.launch.py

Terminal 2 (Basilisk scenario):

python src/bsk-ros2-bridge/examples/scenarioRosOrbit_wrench.py

Terminal 3 (MPC):

source install/local_setup.bash
ros2 launch bsk-ros2-mpc mpc.launch.py type:=wrench namespace:=bskSat0 use_hill:=True use_rviz:=True

[E-Krantz]

I pushed an improvement to the ROS-launch files.