Add /tf_static publisher of the home position (world->map transform)

## Feature request

**Is your feature request related to a problem? Please describe.**

As a ROS user, I want to know the transform from "world" to "map" in ECEF. This is the location of "home" in ECEF, in other words the transform from the world origin to the local tangent plane that Ardupilot got a home position.

**Describe the solution you'd like**

* Add another topic published by static transforms of the home location.
* If home changes, publish a new transform
* Only publish when it changes

**Describe alternatives you've considered**

When integrating Ardupilot with other systems in DDS, you don't know where home is unless you snapshot the geopose data against the local filtered pose and calculate it. Back-calculating from these two topics is clunky.

**Platform**
[ ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

**Additional context**

Add to the same interface of #23393

Start by reviewing the interface requested in #23393 and locating the existing home-position and static-transform publication paths. Confirm how the world-to-map transform is represented in ECEF, then define completion as publishing the transform when home changes and suppressing unchanged publications.

Written by the indexing model from the issue text.