Add Python implementation for a Chain filter (backport #213)

[mergify]

Description

Add Chain filter implementation for Python

Fixes #204

Is this user-facing behavior change?

Yes.
This change provides the functionality of a Chain message filter for Python users.

Did you use Generative AI?

No, I did not.

Additional Information

---

This is an automatic backport of pull request #213 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 0617849 has failed:

On branch mergify/bp/humble/pr-213
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 0617849.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   test/test_message_filters_cache.py
	new file:   test/test_message_filters_chain.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CMakeLists.txt
	both modified:   src/message_filters/__init__.py

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

[ahcorde]

Pulls: #216
Gist: https://gist.githubusercontent.com/ahcorde/f41b4379503901a5eaca0352898161a0/raw/ad7c410f6be7b8984620a51e03830e4af6ee59c0/ros2.repos
BUILD args: --packages-above-and-dependencies message_filters
TEST args: --packages-above message_filters
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17291

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