Feature request

Feature description

Currently the node unconditionally creates a publisher for logging:

This is potentially undesirable in systems which do not need this and have an rmw layer that aggressively preallocates storage for publishers and subscriptions.

There should be some way to control whether or not this occurs when creating the node, or possibly globally.

Implementation considerations

We should look for places where we assume this publisher exists for each node and ensure it falls back gracefully when it is disabled.