refactor(simple_planning_simulator): remove static odom tf publisher #30009

Job	Run time
clang-tidy-differential	4m 56s
prevent-no-label-execution / prevent-no-label-execution	1s
build-and-test-differential (humble)	19m 25s
build-and-test-differential (humble, -cuda)	19m 49s
	44m 11s

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