Prevent using message compression mode with mcap storage

[defunctzombie]

MCAP does not support per-message compression. To prevent users from falling into the trap of recording such files, this change throws an error if per-message compression is used with the mcap storage plugin.

This is a backport of the same behavior present in iron onwards: (https://github.com/ros2/rosbag2/blob/iron/rosbag2_storage_mcap/src/mcap_storage.cpp#L821).

Continuation of #1705 which has gone dead.

[defunctzombie]

@MichaelOrlov since #1705 seems to have gone dead - I've re-created the PR here with the changes and passing lint.

[defunctzombie]

I don't understand the DCO check - if that's something I am supposed to do or if a maintainer does the sign-off.

[MichaelOrlov]

@defunctzombie The DCO is a sort of signature from the committer claiming that the committer is the author of the changes.
Please see instruction how to sign your commits https://github.com/ros2/rosbag2/pull/1782/checks?check_run_id=28589105101

[MichaelOrlov]

@defunctzombie Could you please retarget your branch to the rolling branch?
When we merge PR to rolling, we will backport it to all other active distros with a "simplified" approval workflow.

[defunctzombie]

@defunctzombie Could you please retarget your branch to the rolling branch?
When we merge PR to rolling, we will backport it to all other active distros with a "simplified" approval workflow.

These changes are specifically against humble branch because the rolling branch has a completely different approach. I did what the original PR did - was that not the right thing to do?

[MichaelOrlov]

@defunctzombie Sorry, I've already forgotten a point about the initial PR purpose.
Approving then.

[MichaelOrlov]

LGTM with green CI.

[MichaelOrlov]

Pulls: #1782
Gist: https://gist.githubusercontent.com/MichaelOrlov/676291ba142aba4fe065dff7f011720d/raw/b5e0484e74012758a2f8cd24c092eed3377dd28f/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_compression rosbag2_cpp rosbag2_tests
TEST args: --packages-above ros2bag rosbag2_compression rosbag2_cpp rosbag2_tests
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14401

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