update dds-sniffer with --topics, topic-info

[maloel]

When doing some ROS work I needed to see topic information but the dds-sniffer output was insufficient. I added so we can now see:

$ ./Release/rs-dds-sniffer -d 0 --participants --topics
5898d32b8091.0  rs-dds-adapter
    R  realsense/D455_214623065416/control                               [ realdds::topics::raw::flexible reliable ]
     W realsense/D455_214623065416/metadata                              [ realdds::topics::raw::flexible best-effort ]
     W realsense/D455_214623065416/notification                          [ realdds::topics::raw::flexible reliable ]
     W realsense/device-info                                             [ realdds::topics::raw::flexible reliable ]
    R  rq/realsense/D455_214623065416/describe_parametersRequest         [ rcl_interfaces::srv::dds_::DescribeParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/get_parametersRequest              [ rcl_interfaces::srv::dds_::GetParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/list_parametersRequest             [ rcl_interfaces::srv::dds_::ListParameters_Request_ reliable ]
    R  rq/realsense/D455_214623065416/set_parametersRequest              [ rcl_interfaces::srv::dds_::SetParameters_Request_ reliable ]
     W rr/realsense/D455_214623065416/describe_parametersReply           [ rcl_interfaces::srv::dds_::DescribeParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/get_parametersReply                [ rcl_interfaces::srv::dds_::GetParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/list_parametersReply               [ rcl_interfaces::srv::dds_::ListParameters_Response_ reliable ]
     W rr/realsense/D455_214623065416/set_parametersReply                [ rcl_interfaces::srv::dds_::SetParameters_Response_ reliable ]
     W rt/realsense/D455_214623065416_Color                              [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Depth                              [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Infrared_1                         [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Infrared_2                         [ sensor_msgs::msg::dds_::Image_ best-effort ]
     W rt/realsense/D455_214623065416_Motion                             [ sensor_msgs::msg::dds_::Imu_ best-effort ]
011040e9be1ec39ac5f91813
    RW ros_discovery_info                                                [ rmw_dds_common::msg::dds_::ParticipantEntitiesInfo_ reliable transient-local ]
    R  rq/camera/camera/describe_parametersRequest                       [ rcl_interfaces::srv::dds_::DescribeParameters_Request_ reliable ]
    R  rq/camera/camera/get_parameter_typesRequest                       [ rcl_interfaces::srv::dds_::GetParameterTypes_Request_ reliable ]
    R  rq/camera/camera/get_parametersRequest                            [ rcl_interfaces::srv::dds_::GetParameters_Request_ reliable ]
    R  rq/camera/camera/list_parametersRequest                           [ rcl_interfaces::srv::dds_::ListParameters_Request_ reliable ]
    R  rq/camera/camera/set_parametersRequest                            [ rcl_interfaces::srv::dds_::SetParameters_Request_ reliable ]
    R  rq/camera/camera/set_parameters_atomicallyRequest                 [ rcl_interfaces::srv::dds_::SetParametersAtomically_Request_ reliable ]
     W rr/camera/camera/describe_parametersReply                         [ rcl_interfaces::srv::dds_::DescribeParameters_Response_ reliable ]
     W rr/camera/camera/get_parameter_typesReply                         [ rcl_interfaces::srv::dds_::GetParameterTypes_Response_ reliable ]
     W rr/camera/camera/get_parametersReply                              [ rcl_interfaces::srv::dds_::GetParameters_Response_ reliable ]
     W rr/camera/camera/list_parametersReply                             [ rcl_interfaces::srv::dds_::ListParameters_Response_ reliable ]
     W rr/camera/camera/set_parametersReply                              [ rcl_interfaces::srv::dds_::SetParameters_Response_ reliable ]
     W rr/camera/camera/set_parameters_atomicallyReply                   [ rcl_interfaces::srv::dds_::SetParametersAtomically_Response_ reliable ]
    RW rt/parameter_events                                               [ rcl_interfaces::msg::dds_::ParameterEvent_ reliable ]
     W rt/rosout                                                         [ rcl_interfaces::msg::dds_::Log_ reliable transient-local ]

• Had to change on_writer_added and on_reader_added listener callbacks in dds-participant so they can provide actual QoS
• Then take that QoS and easily stream as a string
• Added --topics to rs-dds-sniffer

I actually prefer the output of --participants --topics to the default output of --snapshot...

[OhadMeir]

Do we neen with_guids as a parameter?
Currently always true, plus some participants might don't have a name or multiple participants have the same name.

[maloel]

Right, but left as-is since it was there...

[OhadMeir]

Only a minor comment