Add a publish-and-take test for rmw_take_sequence

[xiao-yang25]

Summary

• Expand the rmw_take_sequence test to publish and receive multiple messages.
• Use BasicTypes sequence storage matching the subscription type instead of the previous Strings storage.
• Publish three ordered messages and use a bounded wait-and-take loop to receive them.
• Verify the number of messages taken, the message and metadata sequence sizes, and message ordering.
• Retain the existing empty-subscription coverage.
• Add scoped cleanup for the publisher, wait set, messages, and information sequences.

Testing

Tested commit: ba9916b

Environment:

• Ubuntu 26.04 LTS
• ARM64
• ROS 2 Rolling
• rmw_fastrtps_cpp

Commands:

colcon build --packages-up-to test_rmw_implementation

RMW_IMPLEMENTATION=rmw_fastrtps_cpp \
GTEST_FILTER=TestSubscriptionUse.take_sequence \
colcon test \
  --packages-select test_rmw_implementation \
  --ctest-args -R '^test_subscription__' --output-on-failure

colcon test-result --verbose

Result:

Summary: 2 tests, 0 errors, 0 failures, 0 skipped

Fixes #176

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[fujitatomoya]

can we add more info here? e.g., how many were taken before timing out. this would make CI flake triage much easier.

[fujitatomoya]

this ordering leaves dangling pointers in sequence.data? test_msgs__msg__BasicTypes__Sequence__destroy(seq) runs before rmw_message_sequence_fini(&sequence), meaning the fini runs while sequence.data[i] are dangling?

[fujitatomoya]

we can inspect more entries as proper test? it would meaningfully strengthen the test to check, e.g., that info_sequence.data[i].publisher_gid matches the publisher.

[xiao-yang25]

Addressed all three review comments in 1ba23ba:

• The final assertion now reports both total_taken and message_count when the deadline is reached, making CI timeout failures easier to diagnose.
• The cleanup order now ensures that rmw_message_sequence_fini(&sequence) runs before the backing message sequence is destroyed, so sequence.data does not contain dangling pointers during finalization.
• The test now obtains the publisher GID with rmw_get_gid_for_publisher() and verifies it against every entry returned in info_sequence.