RMW QoS incoming buffer handling (backport #165)

[mergify]

This is an automatic backport of pull request #165 done by Mergify.
Cherry-pick of b1531c7 has failed:

On branch mergify/bp/main/pr-165
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Changes to be committed:
	modified:   rmw_microxrcedds_c/CMakeLists.txt
	modified:   rmw_microxrcedds_c/src/callbacks.c
	modified:   rmw_microxrcedds_c/src/rmw_client.c
	modified:   rmw_microxrcedds_c/src/rmw_init.c
	modified:   rmw_microxrcedds_c/src/rmw_publisher.c
	modified:   rmw_microxrcedds_c/src/rmw_request.c
	modified:   rmw_microxrcedds_c/src/rmw_response.c
	modified:   rmw_microxrcedds_c/src/rmw_service.c
	modified:   rmw_microxrcedds_c/src/rmw_subscription.c
	modified:   rmw_microxrcedds_c/src/rmw_take.c
	modified:   rmw_microxrcedds_c/src/rmw_wait.c
	modified:   rmw_microxrcedds_c/src/types.c
	modified:   rmw_microxrcedds_c/test/test_pubsub.cpp
	modified:   rmw_microxrcedds_c/test/test_reqres.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rmw_microxrcedds_c/src/types.h

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[github-actions]

Static memory analysis

Default configuration

MTU: 512 B
Input buffer size: 2048 B
Input history: 4
Output buffer size: 2048 B
Output history: 4

Entity	Qty	Size per unit
Context	2	5608 B
Topic	8	56 B
Service	4	168 B
Client	4	168 B
Subscription	4	168 B
Publisher	4	184 B
Node	4	56 B
Static input buffer	8	2136 B

TOTAL: 31508 B