Introducing content-filtering topics

[wayneparrott]

ROS Humble introduced the content-filtering topics feature. This PR makes this feature available to rclnodejs developers.

Resources DDS 1.4 specification, Annex B Content-filtering tutorial https://github.com/ros2/design/pull/282 subscription.h

Supported RMWs Content-filtering is supported by the following RMWs as of the Humble release:

• rmw_fastrtps - default Humble RMW
  • rmw_connext
  • rmw_gurumdds_cpp

Note-1: rmw_cyclonedds_cpp does NOT support content-filtering yet. Note-2: Our experience is that content-filtering on rmw_fastrtps is only works on the Linux versions of ROS Humble and Rolling. Therefore, the test/blocklist.json excludes the test-subscription-content-filter.js test on Windows and Mac.

Key changes node.js

• added contentFilter to Options
• added static getDefaultOptions()
• updated createSubscription() to support contentFilter

node.d.ts

• added content-filter types

subscription.js

• isContentFilteringEnabled()
• setContentFilter()
• clearContentFilter()

subscription.d.ts

• updated with content-filter api

rcl_bindings.cpp

• added content-filtering to CreateSubscription()

rmw.js

• new class for identifying the current ROS middleware

test-subscription-content-filter.js

• test cases for content-filters

examples:

• publisher-content-filtering-example.js
• subscription-content-filtering-example.js

package.json

• added build/rebuild scripts for convenience