Manually fix a set of Topic QoS, and implement the max-tx-rate, max-rx-rate, and downsampling #403
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In this version, topics' QoS are configurable. The set of predefined topics' QoS takes precedence over the discovered topics' QoS.
The following features have also been implemented:
These features can be configured generically, per participant, and per topic.
Merge after: