Serialize encapsulation header on buffer aware topics

[MiguelCompany]

Description

While creating a native DDS consumer for rosidl buffer custom topics, I discovered that the encapsulation header required by the RTPS standard is not added for the reader-GUID-based topics.

This PR adds the encapsulation header when publishing, and consumes it when taking.

Is this user-facing behavior change?

No, but the custom serialization changes.
I would nonetheless consider backporting to lyrical.

Did you use Generative AI?

No.

Additional Information

I verified that the GPU buffer transport tutorial works with these changes

[wjwwood]

Makes sense to me. I also think a backport is appropriate. Might need to run it by the PMC meeting and probably post about it to discourse.

[fujitatomoya]

Pulls: #891
Gist: https://gist.githubusercontent.com/fujitatomoya/741ef888bcf594ff0daeabb85f8c6eb9/raw/ce2cf3f96a21ac1d898795b37ee193f062f8aa5f/ros2.repos
BUILD args: --packages-above-and-dependencies rmw_fastrtps_cpp
TEST args: --packages-above rmw_fastrtps_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19595

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

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[MiguelCompany]

@mjcarroll @sloretz As discussed in the PMC meeting, I added a log error for the version mismatch when reading the encapsulation header

[mjcarroll]

Thanks for adding the note.

FYI @sloretz this is probably something that we want to announce when you do the next sync/patch.

[MiguelCompany]

New CI:

• Linux
• Linux-aarch64
• Linux-rhel
• Windows