[Humble] Add SplitBagfile recording service. (backport #1115)

[mergify]

This is an automatic backport of pull request #1115 done by Mergify.
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Changes to be committed:
	modified:   rosbag2_cpp/include/rosbag2_cpp/writer.hpp
	modified:   rosbag2_cpp/include/rosbag2_cpp/writer_interfaces/base_writer_interface.hpp
	modified:   rosbag2_cpp/include/rosbag2_cpp/writers/sequential_writer.hpp
	new file:   rosbag2_interfaces/srv/SplitBagfile.srv
	modified:   rosbag2_transport/include/rosbag2_transport/recorder.hpp
	modified:   rosbag2_transport/src/rosbag2_transport/recorder.cpp
	modified:   rosbag2_transport/test/rosbag2_transport/mock_sequential_writer.hpp
	modified:   rosbag2_transport/test/rosbag2_transport/test_record_services.cpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   rosbag2_cpp/src/rosbag2_cpp/writer.cpp
	deleted by us:   rosbag2_cpp/test/rosbag2_cpp/fake_data.cpp
	deleted by us:   rosbag2_cpp/test/rosbag2_cpp/fake_data.hpp
	both modified:   rosbag2_interfaces/CMakeLists.txt
	both modified:   rosbag2_transport/CMakeLists.txt

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[rshanor]

@emersonknapp Thanks! Let me know if there is anything I can do to help here.

[MichaelOrlov]

@rshanor Please remove automatically added fake_data.cpp and fake_data.hpp by mergify.
In humble we don't need them, since we don't have tests which depends up on them.

As regards to the API and ABI stability IMO with this PR we are not breaking currently defined publicly available API and still will be ABI compatible since we are not changing any structures or public API only adding new.
Although would like to hear a second opinion.
@clalancette Please review/approve in regards API/ABI stability.
We are essentially propagating protected void split_bagfile()
To the public void split_bagfile() override; added in base_writer_interface.hpp.

[rshanor]

@MichaelOrlov #1128

[MichaelOrlov]

LGTM.
I've tried to fix DCO. But no luck.

[MichaelOrlov]

Gist: https://gist.githubusercontent.com/MichaelOrlov/7784be09f2b6f86c8d6f3e6162aac106/raw/64bbaee1d49a8c11ce791748b9145e337ba575e7/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp rosbag2_transport rosbag2_tests
TEST args: --packages-above rosbag2_cpp rosbag2_transport rosbag2_tests
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/10998

• Linux
• Linux-aarch64
• Windows

[clalancette]

This almost certainly breaks ABI; it changes the vtable for the class, which means that everything else has to move around. So this PR is probably not ABI-safe, and we shouldn't merge it into Humble as-is.

[MichaelOrlov]

@rshanor I am sorry we can't merge this PR to the Humble since it breaking ABI compatibility and we have strict requirement https://docs.ros.org/en/humble/How-To-Guides/Package-maintainer-guide.html#backporting-to-released-distributions to keep API and ABI compatibility in ROS2 release distros.

See explanation from @clalancette #1124 (comment)

[MichaelOrlov]

• Closing as wouldn't done, since this PR breaking ABI compatibility. For details see explanation in [Humble] Add SplitBagfile recording service. (backport #1115) #1124 (comment)