fix: populate reception_sequence_number and advertise sequence number features

[YuanYuYuan]

Description

rmw_feature_supported currently returns false for both RMW_FEATURE_MESSAGE_INFO_PUBLICATION_SEQUENCE_NUMBER and RMW_FEATURE_MESSAGE_INFO_RECEPTION_SEQUENCE_NUMBER, causing rclcpp to skip populating these fields in rclcpp::MessageInfo entirely. Additionally, reception_sequence_number is always set to 0 with a TODO comment at both take sites.

The fix:

• Flips rmw_feature_supported to return true for both sequence number features.
• Adds a std::atomic<uint64_t> reception_sn_ counter to SubscriptionData, initialized to 0. Each call to take_one_message or take_serialized_message increments it with fetch_add(1, std::memory_order_relaxed) and assigns the pre-increment value to message_info->reception_sequence_number.
• publication_sequence_number was already populated from the attachment; no change needed there.

The attachment wire format (sequence_number | source_timestamp | source_gid) is unchanged — this fix is purely in the subscriber-side bookkeeping.

Closes #907
Closes #906

[ahcorde]

Pulls: #920
Gist: https://gist.githubusercontent.com/ahcorde/b2533d084a639b88d6b650c6ae348509/raw/a444cadcc6b118b3dc49af597e82f6c39bde41c4/ros2.repos
BUILD args: --packages-above-and-dependencies rmw_zenoh_cpp
TEST args: --packages-above rmw_zenoh_cpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18406

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

[ahcorde]

@YuanYuYuan or @JEnoch should we backport this ?

[YuanYuYuan]

@YuanYuYuan or @JEnoch should we backport this ?

I think we could backport it. This feature has landed since Humble ros2/rmw#318, and the API change is distro-agnostic.

[ahcorde]

https://github.com/Mergifyio backport kilted jazzy humble

[mergify]

backport kilted jazzy humble

✅ Backports have been created

Details

• #922 fix: populate reception_sequence_number and advertise sequence number features (backport #920) has been created for branch kilted
• #923 fix: populate reception_sequence_number and advertise sequence number features (backport #920) has been created for branch jazzy
• #924 fix: populate reception_sequence_number and advertise sequence number features (backport #920) has been created for branch humble but encountered conflicts

Cherry-pick of 3cbcffb has failed:

On branch mergify/bp/humble/pr-920
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 3cbcffb.
  (fix conflicts and run "git cherry-pick --continue")
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Changes to be committed:
	modified:   rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rmw_zenoh_cpp/src/rmw_zenoh.cpp

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