Backport #294 to humble (backport #471)

[mergify]

This PR backports #294 while deliberating removing tracetools APIs related to services and clients which are not available for Jazzy in a108b91.

This is done to standardize the use of AttachmentData instead of create_map_and_set_sequence_num to make backports easier. Addresses #469 (comment)

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This is an automatic backport of pull request #471 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   rmw_zenoh_cpp/CMakeLists.txt
	modified:   rmw_zenoh_cpp/package.xml
	modified:   rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
	modified:   rmw_zenoh_cpp/src/rmw_zenoh.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
	both modified:   rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
	both modified:   rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
	both modified:   rmw_zenoh_cpp/src/detail/zenoh_utils.hpp

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