Make end-to-end reliability configurable

[JEnoch]

Zenoh offers 2 flavors of reliability:

• hop-to-hop reliability, ensuring the reliability of communication between each Nodes, and between a Node and the connected Zenoh Router.
• end-to-end reliability, ensuring the reliability of communication between Nodes across a chain of Zenoh Routers with connectivities that may be intermittent (e.g. for robot to robot communication)

With rmw_zenoh, the hop-to-hop reliability is ensured using reliable transports (TCP, QUIC...) and congestion_control=Z_CONGESTION_CONTROL_BLOCK if QoS are set to RELIABLE + History=KEEP_ALL

Ensuring the end-to-end reliability would require to:

• Use the Zenoh Advanced Pub/Sub for all RELIABLE Publishers/Subscribers.
  They have been introduced by feat: introduce the advanced publisher and subscriber #368, but are only serving for TRANSIENT_LOCAL support with the current options.
• Configure those with sample_miss_detection.is_enable=true and recovery.is_enabled=true options.
  Those options are adding some heartbeats or polling messages, and thus increase the traffic.

As end-to-end reliability is not required for all use cases, and is adding extra burden (more Advanced Pub/Subs and more traffic), I suggest to make it configurable and disabled by default.

• Fix for reliable + transient_local: Bump Zenoh to v1.3.2 and improve e2e reliability with HeartbeatSporadic #591
• Fix for reliable + volatile + keep_last(n)

[Yadunund]

@JEnoch can we considered this issue "resolved" via #591?

[JEnoch]

#591 resolves this for RELIABLE+TRANSIENT_LOCAL topics, for which Zenoh Advanced Pub/Sub are used.

However it doesn't address the RELIABLE+VOLATILE+KEEP_LAST(N) topics, for which regular Zenoh Pub/Sub are used, with CongestionControl::Drop and no recovery of missing samples.
For end-to-end reliability, those topics would also have to use Advanced Pub/Sub, with sample_miss_detection with HeartbeatSporadic and recovery, but without publisher_detection which is for TRANSIENT_LOCAL behaviour.

This will come with the cost of 1 extra Queryable declaration per Publisher. So it could deserve an option to be activated.

[Yadunund]

Sounds good. Will leave this open for now.