[jazzy] Allow unknown types in bag rewrite (backport #1812)

[mergify[bot]]

This PR will allow ros2 bag convert to process bag files with "unknown" message types. Unknown are the types which typesupport is not available during the bag conversion operation.

Also added proper handling for the ament_index_cpp::PackageNotFoundError exception throwing from the ament_index_cpp::get_package_share_directory(package);. It was causing abnormal converter or recorder termination if the package for message definition was not found in ament_index.

• Closes https://github.com/ros2/rosbag2/issues/1811

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  This is an automatic backport of pull request #1812 done by Mergify.

[MichaelOrlov]

Pulls: ros2/rosbag2#1817 Gist: https://gist.githubusercontent.com/MichaelOrlov/ace05c3f65eddcf20c30cda9e7a62878/raw/8e7d4c193090d4bfa4ea9efb9a5b08777445b438/ros2.repos BUILD args: --packages-above-and-dependencies rosbag2_cpp TEST args: --packages-above rosbag2_cpp ROS Distro: jazzy Job: ci_launcher ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14597

• Linux
• Linux-aarch64
• Linux-rhel
• Windows