#1823)

* Bugfix for rosbag2_cpp serialization converter (#1814)

* Bugfix for rosbag2 serialization converter

- Use rmw specific type support for rmw_serilize{deserialize} function
calls.
Note: It is ok for CycloneDDS 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. Fix works for
both CycloneDDS and FastRTPS rmw.

Signed-off-by: Michael Orlov <[email protected]>

* Add test coverage for default rmv serialization format converter

Signed-off-by: Michael Orlov <[email protected]>

* Run test_serialization_converter for each rmw implementation

- Rationale: To make sure that the default serialization converter can
serialize and deserialize messages with all supported rmw
implementations. Since it uses rmw specific functions for serialization
and deserialization inside.

Signed-off-by: Michael Orlov <[email protected]>

* Address uncrustify formating warnings

Signed-off-by: Michael Orlov <[email protected]>

* Enable sanitizer by default

Signed-off-by: Michael Orlov <[email protected]>

* Address Windows build warnings

Signed-off-by: Michael Orlov <[email protected]>

* Revert "Enable sanitizer by default"

This reverts commit 7241963.

Signed-off-by: Michael Orlov <[email protected]>

---------

Signed-off-by: Michael Orlov <[email protected]>
(cherry picked from commit 6e82f52)

# Conflicts:
#	rosbag2_cpp/src/rosbag2_cpp/converter.cpp

* Address merge conflicts

Signed-off-by: Michael Orlov <[email protected]>

* Fix uncrustfy warning due to the different versions of uncrustify

Signed-off-by: Michael Orlov <[email protected]>

* Replace ament_add_gmock_test with ament_add_gmock

- Rationale:
 The ament_add_gmock_executable(..) and ament_add_gmock_test(..) macros
are not available on Iron distro.

Signed-off-by: Michael Orlov <[email protected]>

* Add missing dependencies from the std_msgs

Signed-off-by: Michael Orlov <[email protected]>

* Adjust writer_->create_topic(..) call in tests

- removed TopicId field initialization since it is absent on Iron

Signed-off-by: Michael Orlov <[email protected]>

---------

Signed-off-by: Michael Orlov <[email protected]>
Co-authored-by: Michael Orlov <[email protected]>
(cherry picked from commit a269cd4)

# Conflicts:
#	rosbag2_cpp/CMakeLists.txt

Signed-off-by: Michael Orlov <[email protected]>

Signed-off-by: Michael Orlov <[email protected]>

- Use rcpputils::fs instead of the std::filesystem in tests. Since RHEL8
doesn't have adequate support for the std::filesystem.

Signed-off-by: Michael Orlov <[email protected]>