Revert "Use serialized message (#1081)"

[ivanpauno]

Reverts #1081.

Requires ros2/rosbag2#389 and ros2/demos#443.

Lots of jobs hanging in test_communication:

• https://ci.ros2.org/job/ci_osx/8507/
• https://ci.ros2.org/job/ci_osx/8506
• https://ci.ros2.org/job/ci_windows/10309
• https://ci.ros2.org/job/ci_windows/10316

[ivanpauno]

CI config:

• build: --packages-up-to test_communication
• test: --packages-select test_communication --ctest-args -R test_publisher_subscriber_serialized__rmw_connext_cpp (that one is the test that is hanging)

Jobs:

• Linux

[j-rivero]

I've verified that test run at the end of the #1081 (comment) did not run test_communication package. That is why it was not triggered during the PR testing and appeared in the new builds.

[j-rivero]

@Karsten1987 is working on a proper fix for the communication tests. Hopefully we don't need to revert.

[ivanpauno]

@Karsten1987 The job above confirms that this unblocks CI.
I will left the decision to you if going ahead with these reverts or merging a fix.

(edit) If you need some reviews you can ping me.

[Karsten1987]

I just linked two PRs which should fix this:

build all, test only test_communication:

• Linux
• Linux-aarch64
• macOS

[ivanpauno]

Closed in favor of #1092 and ros2/system_tests#427.