benchmark code does not build on foxy

[wayneparrott]

There are issues building and running the rclcpp and rclpy benchmark code on foxy. One issue is the Node#create_publisher() now requires a qos argument.

[minggangw]

Yes, the examples haven't been updated for a long time and the interfaces of rclpy/rclcpp have changed.

[wayneparrott]

@minggangw I can give this a look next week if you want to assign it to me?

I'm personally interested in seeing the comparative benchmarks between js, c++ and python. Also we might be able to also see how the different DDS middleware performance compares.

[minggangw]

Please take this issue, thanks!