fix: TF transform errors by connecting object frames to world frame

[Juliaj]

Purpose

Fix the warnings reported from manipulation demo

[move_group-5] [WARN] [1767846168.517325002] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'Block/' to planning frame'world' (Could not find a connection between 'world' and 'Block/' because they are not part of the same tree.Tf has two or more unconnected trees.)
[move_group-5] [WARN] [1767846168.517335284] [move_group.moveit.moveit.ros.planning_scene_monitor]: Unable to transform object from frame 'Block/odom' to planning frame'world' (Could not find a connection between 'world' and 'Block/odom' because they are not part of the same tree.Tf has two or more unconnected trees.)

Proposed Changes

• Publishes static transforms from world to object odom frames after spawning, connecting O3DE object TF trees to MoveIt's planning frame. This not only eliminates the warning, it also enables MoveIt to transform object poses for collision checking and planning.
• Adds a test helper create_mock_clock_with_time to deal with Humble and Jazzy difference in handling mock clock

Issues

• Links to relevant issues

Testing

• Manipulation demo.
• unit test added.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 65.33%. Comparing base (65b80ba) to head (b6ed04b).
✅ All tests successful. No failed tests found.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #749   +/-   ##
=======================================
  Coverage   65.33%   65.33%           
=======================================
  Files          78       78           
  Lines        3392     3392           
=======================================
  Hits         2216     2216           
  Misses       1176     1176           

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