Adapted to rosbag2_py (backport #156)

[mergify[bot]]

This PR fix the new changes included in rosbag2_py.

Still a draft.

Requires https://github.com/ros2/rosbag2/pull/1642

TODO

• interface is almost freeze while recording

  ---

  This is an automatic backport of pull request #156 done by Mergify.

[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows