[Feature/Dynamic_bridge] Add --fix-ros2-names CLI arg

[ghost]

This PR adds --fix-ros2-names CLI arg to automatically modify topic name which starts with a number (because it's invalid for ROS2 topic). ROS1 would allow names like "/lidar/bottom/1_2v" but ROS2 wouldn't:

terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
  what():  Invalid topic name: topic name token must not start with a number:
  '/lidar/bottom/1_2v'

This PR adds an underscore so the modified topic name would be valid in ROS2 ("" in the example)