Manually fix a set of Topic QoS, and implement the max-rx-rate and downsampling

[Tempate]

In this version, topics' QoS are configurable. The set of predefined topics' QoS takes precedence over the discovered topics' QoS.

The following features have also been implemented:

• max-rx-rate (max reception rate): the processing frequency for received samples.
• downsampling: the proportion of samples to process for received samples.

These features can be configured generically, per participant, and per topic.

Merge after:

• Make the deletion of unused entities configurable DDS-Router#391
• Manually fix a set of Topic QoS, and implement the max-tx-rate, max-rx-rate, and downsampling DDS-Pipe#64

[jepemi]

LGTM

[jepemi]

Review all yaml files. There are specs containing qos without qos tag.

[jepemi]

Check .yaml files: configuration_basic.yaml, configuration_discovery_time.yaml, configuration_wrong_empty_arg.yaml, configuration_wrong_type.yaml and fastddsspy_configuration.yaml.
They all include max-history-depth specs qos (should be history-depth, under qos tag)

[juanlofer-eprosima]

Update configuration example in resources folder, and remember to also upgrade YAML version in every file/example.

[juanlofer-eprosima]

Builtin-topics no longer have meaning for Fast-DDS-Spy

[codecov]

Codecov Report

Attention: 17 lines in your changes are missing coverage. Please review.

Files	Coverage Δ
fastddsspy_tool/src/cpp/main.cpp	39.70% <0.00%> (+1.13%)	⬆️
fastddsspy_tool/src/cpp/tool/Controller.cpp	70.30% <0.00%> (ø)
fastddsspy_tool/src/cpp/tool/Backend.cpp	63.63% <25.00%> (-1.67%)	⬇️
...astddsspy_yaml/src/cpp/YamlReaderConfiguration.cpp	40.96% <9.09%> (-2.94%)	⬇️

... and 1 file with indirect coverage changes

📢 Thoughts on this report? Let us know!

[juanlofer-eprosima]

LGTM

[jepemi]

LGTM