Prevent gap in samples when `historyRequest` > `queueCapacity`

## Required information

**Operating system:**
Ubuntu 20.04.3 LTS

**Compiler version:**
gcc 8.4.0

**Observed result or behaviour:**
If the `iceoptions` example is adapted with the following values, there is a gap when joining late.

Configuration:
```
publisherOptions.historyCapacity = 10U;
subscriberOptions.queueFullPolicy = iox::popo::QueueFullPolicy::BLOCK_PRODUCER;

subscriberOptions.queueCapacity = 1U;
publisherOptions.subscriberTooSlowPolicy = iox::popo::ConsumerTooSlowPolicy::WAIT_FOR_CONSUMER;
```

Receiver output:
```
iox-cpp-subscriber-with-options got value: 4
iox-cpp-subscriber-with-options got value: 9
iox-cpp-subscriber-with-options got value: 10
iox-cpp-subscriber-with-options got value: 11
iox-cpp-subscriber-with-options got value: 12
iox-cpp-subscriber-with-options got value: 13
iox-cpp-subscriber-with-options got value: 14
iox-cpp-subscriber-with-options got value: 15
```

**Expected result or behaviour:**
Receiving the latest and greatest sample

Receiver output:
```
iox-cpp-subscriber-with-options got value: 8
iox-cpp-subscriber-with-options got value: 9
iox-cpp-subscriber-with-options got value: 10
iox-cpp-subscriber-with-options got value: 11
iox-cpp-subscriber-with-options got value: 12
iox-cpp-subscriber-with-options got value: 13
iox-cpp-subscriber-with-options got value: 14
iox-cpp-subscriber-with-options got value: 15
```

**Conditions where it occurred / Performed steps:**
Adapt `iceoptions` with the options above.