[21413] Record data in SQL

[EugenioCollado]

Code improvements:

• Make a Serializer to serialize and deserialize TopicQoS, TypeObjects, TypeIdentifiers, and DynamicTypes.
  

• Make a time_utils to convert between different time formats.
  

• Make the DdsRecorder and the DdsReplayer agnostic of the output format.
  

• Refactor McapLogErrorTest to improve its readability.
  

Configuration improvements:

• Move cleanup-period and max-pending-samples from specs to recorder.
  

• Configure safety-margin as a string (100MB, 128GiB, etc).
  

Bug fixes:

• Avoid creating a payload when replaying a message in a topic without a reader.
  

• Fix assert in ROS 2 topics.
  

Potential TODOs:

• Separate data storage calls to dedicated thread
  

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 40.27431% with 958 lines in your changes missing coverage. Please review.

Project coverage is 29.32%. Comparing base (37d1303) to head (d74fe42).

Files with missing lines	Patch %	Lines
...er_participants/src/cpp/recorder/sql/SqlWriter.cpp	31.21%	103 Missing and 113 partials ⚠️
...rticipants/src/cpp/recorder/output/BaseHandler.cpp	42.85%	74 Missing and 70 partials ⚠️
ddsrecorder/src/cpp/tool/DdsRecorder.cpp	44.36%	47 Missing and 32 partials ⚠️
...icipants/src/cpp/replayer/SqlReaderParticipant.cpp	26.85%	24 Missing and 55 partials ⚠️
..._yaml/src/cpp/recorder/YamlReaderConfiguration.cpp	26.53%	27 Missing and 45 partials ⚠️
...cipants/src/cpp/replayer/McapReaderParticipant.cpp	27.63%	9 Missing and 46 partials ⚠️
...r_participants/src/cpp/recorder/sql/SqlHandler.cpp	38.80%	8 Missing and 33 partials ⚠️
...participants/src/cpp/recorder/mcap/McapHandler.cpp	34.21%	6 Missing and 19 partials ⚠️
...rticipants/src/cpp/recorder/message/SqlMessage.cpp	41.86%	7 Missing and 18 partials ⚠️
...rticipants/src/cpp/common/serialize/Serializer.cpp	56.60%	2 Missing and 21 partials ⚠️
... and 18 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #173      +/-   ##
==========================================
+ Coverage   25.17%   29.32%   +4.15%     
==========================================
  Files          75       70       -5     
  Lines        5842     4446    -1396     
  Branches     2999     2262     -737     
==========================================
- Hits         1471     1304     -167     
+ Misses       3408     2140    -1268     
- Partials      963     1002      +39     

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