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WIP: enable intra process communication for CameraPublisher

Christian Rauch requested to merge christian-rauch/ros2_v4l2_camera:ipc into foxy

With use_intra_process_comms set to true, the node would only publish images, but no CameraInfo messages. This creates different interface depending on if efficient intra process communication is desired or not.

This MR simply enables use_intra_process_comms in all cases and uses shared pointers for the CameraPublisher.

However, using a launch file with a ComposableNodeContainer and two ComposableNodes (this v4l2_camera::V4L2Camera and the AprilTagNode) that have use_intra_process_comms set to true, I am still getting different message pointers that are published and subscribed. I am not sure if this is not supposed to work with launch files or if the CameraPublisher just does not support this.

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