Document New Pulsar PubSub Message Compression settings

[jslatten]

What content needs to be created or modified?
Adding documentation for Pulsar Pub/Sub Message Compression

Describe the solution you'd like
Merge PR to include code and document

Where should the new material be placed?
PubSub - setup-pulsar.md

The associated pull request from dapr/dapr, dapr/components-contrib, or other Dapr code repos
TBD - I'm submitting the documentation first per the PR process for components-contrib.

Additional context
It seems there are conflicting steps in both docs PR process and components-contrib PR process both requesting cross-PR references.