[jazzy] Add support for replaying multiple bags (backport #1848)

[mergify]

This PR adds support for replaying multiple bags with ros2 bag play and the underlying classes (rosbag2_transport::Player/rosbag2_py::Player).

To replay multiple bags, use the new -i,--input CLI option.

$ ros2 bag play -i bag1 -i bag2 -i bag3 [storage_id]

Like with the ros2 bag convert option, the -i,--input option takes an URI to the bag folder or dedicated bag file and an optional explicit storage ID. This option can be used multiple times to be able to specify multiple bags. We keep the bag_path positional argument for backward compatibility and simplicity of usage in cases where users need to play just one bag file. However, the standalone --storage CLI option has been deprecated. In the future, users will need to use -i bag [storage_id] if they need to specify the storage ID explicitly.

The rosbag2_transport::Player now uses a std::priority_queue, which required changing the logic and interaction between PlayerImpl::play_messages_from_queue() and PlayerImpl::play_next(). In short, message publication is now all handled by PlayerImpl::play_messages_from_queue(). PlayerImpl::play_next() simply tells it to play the next message and then waits for the result. While the queue is not lock-free anymore, this change does simplify the interaction between PlayerImpl::play_messages_from_queue() and PlayerImpl::play_next() a bit. Note: the priority queue depth is defined by the --read-ahead-queue-size CLI option, which is set to 1000 elements by default.

Messages are played in order, based on their recv_timestamp (recorder reception timestamp). However, with the priority queue, this could eventually be changed (e.g., through PlayOptions) to the send_timestamp (original publication timestamp).

Other notes for reviewers:

1. Like ros2 bag convert, I added the -i, --input option that takes a bag URI and an optional explicit storage ID. This option can be used multiple times for multiple bags.
2. I kept the bag_path positional argument (but made it optional) because it is quite nice to be able to just do ros2 bag play my-bag. However, I deprecated the storage ID option (--storage); users will have to use -i, --input to specify an explicit storage ID for an input bag.
3. This PR doesn't introduce API/ABI breaking changes and can be backported to the jazzy branch. Some APIs needed to be added (mainly constructors) to support N input bags.
   • We can consider deprecating some APIs in another PR.

     ---

     This is an automatic backport of pull request Add support for replaying multiple bags #1848 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   .github/workflows/lint.yml
	modified:   .github/workflows/test.yml
	modified:   README.md
	modified:   ros2bag/ros2bag/api/__init__.py
	modified:   ros2bag/ros2bag/verb/convert.py
	modified:   ros2bag/ros2bag/verb/play.py
	modified:   ros2bag/test/test_api.py
	modified:   rosbag2/package.xml
	modified:   rosbag2_cpp/package.xml
	modified:   rosbag2_py/rosbag2_py/_transport.pyi
	modified:   rosbag2_py/src/rosbag2_py/_transport.cpp
	modified:   rosbag2_transport/CMakeLists.txt
	modified:   rosbag2_transport/include/rosbag2_transport/player.hpp
	modified:   rosbag2_transport/package.xml
	new file:   rosbag2_transport/src/rosbag2_transport/locked_priority_queue.hpp
	modified:   rosbag2_transport/src/rosbag2_transport/player.cpp
	modified:   rosbag2_transport/test/rosbag2_transport/mock_player.hpp
	modified:   rosbag2_transport/test/rosbag2_transport/test_composable_player.cpp
	modified:   rosbag2_transport/test/rosbag2_transport/test_play.cpp
	modified:   rosbag2_transport/test/rosbag2_transport/test_play_next.cpp
	modified:   rosbag2_transport/test/rosbag2_transport/test_play_seek.cpp
	deleted:    shared_queues_vendor/CMakeLists.txt

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by them: shared_queues_vendor/CHANGELOG.rst
	deleted by them: shared_queues_vendor/package.xml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[MichaelOrlov]

Notice: I reverted the deletion of the shared_queue_vendor package. Deleting a package in a stable release can break someone's dependencies.

[MichaelOrlov]

@ros-pull-request-builder retest this please

[MichaelOrlov]

@ros-pull-request-builder retest this please

[MichaelOrlov]

Pulls: #1873
Gist: https://gist.githubusercontent.com/MichaelOrlov/1e9b14b709febab292277366e337eedf/raw/0d1f324a4130bac44cb26d0c8a18ecf31bc8bb83/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_cpp rosbag2_transport rosbag2_py ros2bag rosbag2
TEST args: --packages-above rosbag2_cpp rosbag2_transport rosbag2_py ros2bag rosbag2
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14895

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