[FEA] add rclcpp::waitset test support and provide updated performance report.

[ZhenshengLee]

description

waitset is a scheduling policy without executor in rclcpp to get a deterministic message handling, see ros2/rclcpp#1047

this user-level wait set mechanism later was developed as APEX_OS_POLLING_SUBSCRIPTION communicator, which was published(but not opensourced) in roscon2023 realtime workshop, https://www.apex.ai/_files/ugd/984e93_54790d76c0574748901a425555320b8a.pdf , which let us know the possibility of improving realtime performance.

but the rclcpp::waitset is enough to use, see example https://github.com/ros2/examples/tree/rolling/rclcpp/wait_set and performance test https://gitlab.com/ApexAI/performance_test/-/blob/master/performance_test/plugins/ros2/rclcpp_waitset_communicator.hpp

as a performance report repo, I request the report add rclcpp::waitset support.

consideration

1. waitset should be test in the performance test tool from Apex.AI https://gitlab.com/ApexAI/performance_test , and the benchmark report should be updated.
2. waitset should be test in the reference_system repo.

extra

waitset is not available in reference_system suite for now, track with this issue ros-realtime/reference-system#148

autoware.universe is migrating it's ros2 apps to waitset-based subscription. see https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/topic-message-handling/