Dnae adas/serialized intra process communication

[DensoADAS]

Description:
Extended rclcpp to allow serialized intra process communication. Therefore, we extended mapped ring buffer to allow to handle the message type and the (possible custom) deleter of the serialized data. If the subscription or publisher are not serialized the serialized message is converted on demand.

Possible applications:

• direct recording of serialized data without serialization (with IPM)
• non-templated publisher of serialized messages (with IPM)

Features:

• extended mapped_ring_buffer to handle serialized data (including deleter)
• added serialization and deserialization functions in intraprocess manager
• converting data content if needed (if non/serialized subscription vs. publisher)
• moved publish(rcl_serialized_message_t) from Publisher to PublisherBase to make it more generic
• added unit tests: test_intra_process_communication

[Karsten1987]

This PR has to be rebased on top of master. That makes the change way smaller and easier to review.

[DensoADAS]

• rebased

[ivanpauno]

Thanks for the PR.
We are also considering #778, which is a new implementation of intra process communication (with improved performance).
This will have to wait to that. #778 is a completely new implementation, so changes will be needed here after #778 gets merged.

[DensoADAS]

Created new pull request to new ipm.
see: #973