Implement missing QoS when using intraprocess communication

Feature request

Feature description

Implement KEEP_ALL history policy with intraprocess communication (see https://github.com/ros2/rclcpp/issues/727).
Implement non-volatile durability with intraprocess communication.

Implementation considerations

For sizing the buffers when KEEP_ALL history policy is used, resource limits qos policy will be needed (https://github.com/ros2/rmw/issues/176).

For implementing TRANSIENT_LOCAL durability:

• With history keep_last, the intra_process_manager could store the last message send of each publisher. Adding a map, with publisher_id as keys and storing a shared_ptr to the message sounds reasonable.
• With history KEEP_ALL, the intra_process_manager should never pop from the internal buffer.
• When a new subscription is created with TRANSIENT_LOCAL durability, all the messages from publishers in the same topic with TRANSIENT_LOCAL durability should be delivered (depending on subscriber and publisher history policy if the last of all the messages are delivered). When the publisher history policy was keep_last, if the message is not found in the buffer (because it was popped), it should be taken from the last_message map (mentioned above).

Start by inspecting the intra_process_manager and reading the linked issues ros2/rclcpp#727 and ros2/rmw#176. Trace how intraprocess history and durability are currently handled. Done means KEEP_ALL and non-volatile durability work for intraprocess communication, including the stated buffer, resource-limit, publisher, and new-subscription behavior.