Improve QoS settings in RaiBaseNode

[knicked]

Is your feature request related to a problem? Please describe.
The current implementation always sets the ReliabilityPolicy to BEST_EFFORT for all subscribers, effectively preventing most heavier messages (like images) from being received. This makes the tools like GetCameraImage, GetObjectPositionsTool fail most of the time when the data is sent through a network.

Describe the solution you'd like
ROS2 jazzy exposes a new ReliabilityPolicy setting: BEST_AVAILABLE, which will select the highest level of service available before creating a subscription or a publisher. We can use it when initializing the RaiBaseNode.

Describe alternatives you've considered

1. Leave the setting as it is, and let users change it directly in the object like so (this is already possible):

node = RaiBaseNode(node_name="rai_node")
node.qos_profile.reliability = rclpy.qos.ReliabilityPolicy.RELIABLE

2. Make it possible to choose the setting using the constructor's parameters and keep the current settings as a default value, so the node could be initialized like this:

node = RaiBaseNode(node_name="rai_node", qos_profile=QoSProfile(...))

Additional context
ROS2 humble and below don't have the BEST_AVAILABLE option exposed, so using it would break compatibility with older versions of rclpy.

[maciejmajek]

Can you please do a performance comparison between different QOS?

[adamdbrw]

You can do policy matching as it is done in ros2 bag (record) feature and other ros2 command line tools