Backport from master to ROS2

[knorth55]

• https://github.com/ros-drivers/audio_common/pull/182
• https://github.com/ros-drivers/audio_common/pull/184
• https://github.com/ros-drivers/audio_common/pull/192
• https://github.com/ros-drivers/audio_common/pull/193
• https://github.com/ros-drivers/audio_common/pull/202
• https://github.com/ros-drivers/audio_common/pull/204
• https://github.com/ros-drivers/audio_common/pull/206
• https://github.com/ros-drivers/audio_common/pull/216
• https://github.com/ros-drivers/audio_common/pull/220
• https://github.com/ros-drivers/audio_common/pull/223