Transient local pub/sub for referee topics

[kfu02]

Description

Referee topics are only published on gameplay start/halt, which means we should use the transient local QoS for all related ROS pubs/subs. The pubs are configured as such; the subs aren't. Introducing transient local subs didn't expose the topics to gameplay_node, so in #1671 we added a timer to periodically publish the referee messages.

Steps to reproduce

1. Start sim
2. Remove the timer added in Basic defense play #1671
3. Try to use a referee topic in gameplay_node

Result: The callback in gameplay_node is never reached.

• This bug has been reproduced by someone else

Additional information

Either we should fix transient_local subs or just make all referee topics on a timer.