Move the ReaderWriterFactory to the rosbag2_cpp layer

[MichaelOrlov]

Description

Move the ReaderWriterFactory to the rosbag2_cpp layer

Currently the ReaderWriterFactory is part of the rosbag2_transport package and part of its namespace.
However, the ReaderWriterFactory doesn't have any dependencies from the rosbag2_transport package.
It will be more appropriate if the ReaderWriterFactory will be located at the rosbag2_cpp package.

Related Issues

• Feature request: rosbag2 reader that automatically detects if the bagfile is compressed or not #1677
• Use the ReaderWriterFactory to construct a bagfile reader ros2_documentation#4499

Completion Criteria

• The ReaderWriterFactory moved to the rosbag2_cpp layer and all dependencies in the rosbag2 updated.

Implementation Notes / Suggestions

Since this is an API-breaking change, we can't just move ReaderWriterFactory from the rosbag2_transport namespace to the rosbag2_cpp. Instead, need to add a deprecation flag to the rosbag2_transport::ReaderWriterFactory and add a new rosbag2_cpp::ReaderWriterFactory.

Testing Notes / Suggestions

Move relevant tests if they exist from the rosbag2_transport layer to the rosbag2_cpp layer.