Update clang-format rules to fit ROS 2 style guide

[james-rms]

Directly uses the ROS 2 clang-format rules from here. This also brings rosbag2_storage_mcap into compliance with the ROS 2 style guide.

Some notable changes:
(https://google.github.io/styleguide/cppguide.html#Preprocessor_Directives).

• The ROS 2 style guide specifies pointer alignment differently from our previous rule.
• Line breaks before braces have different rules in the ROS 2 style guide.

Testing

• ament_clang_format . returns no errors from repo root
• ament_cpplint . returns no errors from repo root

[james-rms]

CI is failing on rolling because update_metadata is not implemented, which I will do in a separate PR.