Karsten/serialized ipm touchups

[Karsten1987]

This is still WIP, but essentially this is how I would envision to deal with the Serializer and SerializedMessage class.

The tests currently don't run, because I still have to get my head around the actual intraprocess communication. There's a lot of memory corruption and BAD_ACCESS exit codes around the context in the tests.

[Karsten1987]

@DensoADAS please let me know if you guys can work with this. I would appreciate to have the Serializer and SerialiedMessage being part of Foxy as such.

[Karsten1987]

I had to disable the INSTANTIATE_TEST_CASE_P on my OSX machine as this led to unexpected memory corruption when trying to cleanup the parameters. I worked around it by putting them in the fixture.

The problem with this test currently is that I some messages gets destroyed on the stack:

test_intra_process_communication(59575,0x1007c75c0) malloc: *** error for object 0x1058a6600: pointer being freed was not allocated
test_intra_process_communication(59575,0x1007c75c0) malloc: *** set a breakpoint in malloc_error_break to debug

when enabling publisher->publish(std::make_unique<rcl_serialized_message_t>(msg0));

[Karsten1987]

I wasn't exactly sure why this check is happening. Also, I wouldn't compile if we check for the CallbackMessageT, which I believe is the right thing to check for though.

[Karsten1987]

So I am at a state where the serialize to serialize communication work, however all others not.
I would appreciate if you guys could have a look at this.

So the main critique I have for this PR is that it's adding always to id's to the intraprocess communication manager. And I think this should be possible to limit to one, given that it's the same publisher.