replace cv_bridge with direct converter for image msg

[gezp]

解决https://github.com/robomaster-oss/rmoss_core/issues/8.

在rmoss_cam中，使用cv_bridge::CvImage进行cv::Mat与sensor_msgs::msg::Image之间的转换，该部分性能不是很好，ros2/demos/intra_process_demo提供了相关直接转换的代码，可以直接采用。

• 移除cv_bridge转换模块。
• msg类型使用unique_ptr，支持rclcpp use_intra_process_comms 特性。
• benchmark 增加 rclcpp use_intra_process_comms 测试。

[gezp]

test result (on CPU: Intel(R) i7-8700 (6Cores 12Threads), Memory: 32GB)

[benchmark_test-2] start test for normal multi-process
[benchmark_test-2] result for <benchmark_cam1>:
[benchmark_test-2] fps:99.8179
[benchmark_test-2] delay:0.00132909
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:100.199
[benchmark_test-2] delay:0.00101024
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:100.198
[benchmark_test-2] delay:0.000321852
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:100.201
[benchmark_test-2] delay:0.000198739

[TomwKang]

设备信息 NUC8 i5 bek CPU： Intel® Core™ i5-8259U CPU @ 2.30GHz × 8 Mem： 7.6 GiB

[benchmark_test-2] start test for normal multi-process
[benchmark_test-2] result for <benchmark_cam1>:
[benchmark_test-2] fps:88.1853
[benchmark_test-2] delay:0.0045809
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:100.222
[benchmark_test-2] delay:0.00313066
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:100.196
[benchmark_test-2] delay:0.00144415
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:100.218
[benchmark_test-2] delay:0.000967741

[benchmark_test-2] start test for normal multi-process
[benchmark_test-2] result for <benchmark_cam1>:
[benchmark_test-2] fps:90.4259
[benchmark_test-2] delay:0.00394579
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:100.213
[benchmark_test-2] delay:0.00310777
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:100.182
[benchmark_test-2] delay:0.00109937
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:100.212
[benchmark_test-2] delay:0.00104426

[benchmark_test-2] start test for normal multi-process
[benchmark_test-2] result for <benchmark_cam1>:
[benchmark_test-2] fps:76.3538
[benchmark_test-2] delay:0.00495936
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:100.198
[benchmark_test-2] delay:0.00428749
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:100.197
[benchmark_test-2] delay:0.00124397
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:100.197
[benchmark_test-2] delay:0.00099262

[gezp]

测试设备：Raspberry Pi 4B with 2GB RAM (ARM platform) 发布频率为100hz下的测试结果：

[benchmark_test-2] fps:21.563
[benchmark_test-2] delay:0.0360788
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:69.6866
[benchmark_test-2] delay:0.0196059
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:100.204
[benchmark_test-2] delay:0.00593068
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:100.233
[benchmark_test-2] delay:0.00276095

发布频率为50hz下的测试结果：

[benchmark_test-2] start test for normal multi-process
[benchmark_test-2] result for <benchmark_cam1>:
[benchmark_test-2] fps:48.3372
[benchmark_test-2] delay:0.0251548
[benchmark_test-2] start test for normal composition
[benchmark_test-2] result for <benchmark_cam2>:
[benchmark_test-2] fps:50.1076
[benchmark_test-2] delay:0.00486173
[benchmark_test-2] start test for composition with rclcpp intra-comms
[benchmark_test-2] result for <benchmark_cam3>:
[benchmark_test-2] fps:50.1044
[benchmark_test-2] delay:0.00214461
[benchmark_test-2] start test for composition with rmoss intra-comms
[benchmark_test-2] result for <benchmark_cam4>:
[benchmark_test-2] fps:50.1014
[benchmark_test-2] delay:0.00130644