[humble] When using sim time, wait for /clock before beginning recording (backport #1378)

[mergify]

Depends on ros2/rcl#1078
Depends on ros2/rclcpp#2210

This is an automatic backport of pull request #1378 done by Mergify.
Cherry-pick of d52ddbb has failed:

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Changes to be committed:
	modified:   README.md
	modified:   rosbag2_transport/test/rosbag2_transport/test_record_all_use_sim_time.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ros2bag/ros2bag/verb/record.py
	both modified:   rosbag2_transport/src/rosbag2_transport/recorder.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[emersonknapp]

@ros-pull-request-builder retest this please

[emersonknapp]

Requires ros2/rclcpp#2040 - discussing on the issue whether we can backport it to Humble. If not, I can do an "inline cherry-pick" of the needed functions into recorder.cpp in a private namespace for use.

[MichaelOrlov]

Backport LGTM among one nitpick with missed timeout parameter.

[emersonknapp]

Backports created ros2/rcl#1078, ros2/rclcpp#2210 and approved, running CI. I will wait on those instead of copying the code here

[emersonknapp]

Pulls: #1392
Gist: https://gist.githubusercontent.com/emersonknapp/e38a6e3aa008d4b5c171281ea1a088e2/raw/b1f79db16902002588826c2c13b9c734e1f8cd87/ros2.repos
BUILD args: --packages-above-and-dependencies ros2bag rosbag2_transport
TEST args: --packages-above ros2bag rosbag2_transport
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/12241

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