[iron] Bugfix for rosbag2_cpp serialization converter (backport #1814)

[mergify]

• This PR will address default rmw-implemented serialization converter failures when deserializing messages from the CDR format with rmw_fastrtps.

• This PR addresses the issue described in the Default rmw implemented serialization converter fails to deserialize messages with rmw_fastrtps #1815

• RCA and fix proposal please see in the Default rmw implemented serialization converter fails to deserialize messages with rmw_fastrtps #1815 (comment)

• The fix uses rmw-specific type support for rmw_serilize{deserialize} function calls instead of the introspection type support.
  Note: It is ok for CycloneDDS and ConnextDDS to use introspection type support for rmw_serilize{deserialize} functions. However, for FastRTPS it must be rmw specific type support. e.g. rosidl_typesupport_cpp.
  The fix should work for CycloneDDS, ConnextDDS and FastRTPS RMWs.

---

This is an automatic backport of pull request #1814 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	modified:   rosbag2_cpp/CMakeLists.txt
	modified:   rosbag2_cpp/include/rosbag2_cpp/converter_interfaces/serialization_format_converter.hpp
	modified:   rosbag2_cpp/include/rosbag2_cpp/converter_interfaces/serialization_format_deserializer.hpp
	modified:   rosbag2_cpp/include/rosbag2_cpp/converter_interfaces/serialization_format_serializer.hpp
	renamed:    rosbag2_cpp/src/rosbag2_cpp/rmw_implemented_serialization_format_converter.hpp -> rosbag2_cpp/include/rosbag2_cpp/rmw_implemented_serialization_format_converter.hpp
	modified:   rosbag2_cpp/package.xml
	modified:   rosbag2_cpp/src/rosbag2_cpp/rmw_implemented_serialization_format_converter.cpp
	modified:   rosbag2_cpp/src/rosbag2_cpp/serialization_format_converter_factory_impl.hpp
	new file:   rosbag2_cpp/test/rosbag2_cpp/test_serialization_converter.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rosbag2_cpp/src/rosbag2_cpp/converter.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[MichaelOrlov]

The changes in the PR are ABI/API compatible because we moved RMWImplementedConverter class declaration from the src folder to the include folder and made it publicaly available in the dll.
This is equivalent to adding a new class to the dll.
According to the https://acodersjourney.com/20-abi-breaking-changes/ - this is an ABI compatible changes.

[MichaelOrlov]

Pulls: #1823
Gist: https://gist.githubusercontent.com/MichaelOrlov/26ced40d72ff85483c4f0e7fc9427dab/raw/d255e6babae5f6a9027a5beb3b1d2415e4d15413/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp
TEST args: --packages-above rosbag2_cpp
ROS Distro: iron
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14616

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

Pulls: #1823
Gist: https://gist.githubusercontent.com/MichaelOrlov/889d3a9b53433b3f1f0d4d6dd29ef20c/raw/d255e6babae5f6a9027a5beb3b1d2415e4d15413/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp
TEST args: --packages-above rosbag2_cpp
ROS Distro: iron
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14617

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

Pulls: #1823
Gist: https://gist.githubusercontent.com/MichaelOrlov/19b3219cfeebd91be9631b8c46933f5a/raw/d255e6babae5f6a9027a5beb3b1d2415e4d15413/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp
TEST args: --packages-above rosbag2_cpp
ROS Distro: iron
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14619

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

Warnings on RHEL build no CONNEXTDDS_DIR nor NDDSHOME specified is a known issue and unrelated to the changes from this PR.

[MichaelOrlov]

https://github.com/Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #1824 [iron] Bugfix for rosbag2_cpp serialization converter (backport #1814) (backport #1823) has been created for branch humble but encountered conflicts