need to implement QoS feature for RELIABILITY, to observe msg by rqt

[takasehideki]

When we want to observe msg by rqt, the following log occurs and it cannot be observed on Topic Monitor.

$ rqt 
[WARN] [1694593985.541597582] [rqt_gui_py_node_1735161]: New publisher discovered on topic '/to_linux', offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY

This is because the default QoS policy for rqt (and rviz) is set to RELIABILITY, maybe from Galactic. https://github.com/ros-visualization/rqt/issues/187 https://answers.ros.org/question/358669/problem-to-read-topics-with-sensorqos-in-rviz-and-rqt/

So, we need to implement the feature to select QoS policy to RELIABLE, or set the default to RELIABLE. Fortunately, embeddedRTPS offers BEST_EFFORT and RELIABLE as selectable QoS policies.

[takasehideki]

This may be realized by modifying the following line from false to true. In addition, this should be able to be configured as mros2 API. https://github.com/mROS-base/mros2/blob/main/src/mros2.cpp#L157

code in embeddedRTPS: https://github.com/mROS-base/embeddedRTPS/blob/de70e01959afdf218af8a227f054226f78806cdd/src/entities/Domain.cpp#L344-L353

However, I cannot confirm the operation on mros2-mbed by just modifying it to true, probably due to the configuration of rtps/config.h.

mros2-mbed start!
app name: echoback_string
Successfully connected to network
  IP Address: 192.168.11.2
[MROS2LIB] set IP address for RTPS communication
[MROS2LIB] mros2_init task start
mROS 2 initialization is completed

[MROS2LIB] create_node
[MROS2LIB] start creating participant
[MROS2LIB] successfully created participant
[MROS2LIB] create_publisher complete.
[MROS2LIB] create_subscription complete.


++ MbedOS Error Info ++
Error Status: 0x8003012D Code: 301 Module: 3
Error Message: sys_thread_new number error

Location: 0x8010AAF
Error Value: 0x6
Current Thread: mROS2Thread Id: 0x200141F0 Entry: 0x80050B1 StackSize: 0x1388 StackMem: 0x20014238 SP: 0x20015500 
For more info, visit: https://mbed.com/s/error?error=0x8003012D&tgt=NUCLEO_F767ZI
-- MbedOS Error Info --

= System will be rebooted due to a fatal error =
= Reboot count(=1) reached maximum, system will halt after rebooting =�