Items to get rmw_zenoh to Tier-1 status

[clalancette]

The goal for Kilted is to get rmw_zenoh_cpp to Tier-1 status. To get there, we need to do the following (in rough priority order, finished items at the end):

Status	Item	Why?	Related issues/PRs
Done ✔️	Make rmw_zenoh_cpp thread-safe	rmw_zenoh_cpp must be thread-safe between e.g. rmw_destroy_subscriber and a callback that is coming in at the same time	#258, #259, #278 , #289, #288
In progress	Make rmw_zenoh_cpp pass all core tests		#267
Done ✔️	Switch to Zenoh 1.0	Zenoh 1.0 changes the on-the-wire protocol, we should keep up with these changes	#276
In progress	Switch to zenoh-cpp (this will fix a few threading issues)
Not started	Implement Security (i.e. SROS2) for rmw_zenoh_cpp	This is required for Tier-1 RMW implementations
Done ✔️	Make rmw_zenoh_cpp work on Windows	Windows is a Tier-1 platform, thus it must be supported	#232, #268
Done ✔️	Reduce the session creation time	It currently takes 1.5 seconds to create a session, but ROS 2 assumes it is more-or-less instantaneous	#284, #308
In progress	Switch to using the upstream zenohd	The zenohd shipped here is a subset of functionality; thus we should switch to the upstream one which has full functionality	#262
Not started	Figure out exactly how and when the zenohd router will be run
Not started	Add in a QUALITY_DECLARATION.md file
Done ✔️	Fix transient-local missed messages	Transient local should work in all circumstances	#263
Done ✔️	Make rmw_zenoh_cpp compatible with Iron, Jazzy, and Rolling	Rolling recently removed the localhost_only option, so we need some follow-up so it will compile there	#255
Done ✔️	Test rmw_zenoh_cpp on RHEL-9	RHEL-9 is a Tier-2 platform, and thus should be supported	✔️ #265 (comment)
Done (for now) ✔️	Fix shutdown unsoundness	Zenoh cannot be destroyed during atexit handlers, so we have to do that ahead of time	#170, #283

[ahcorde]

I tried RHEL-9 and rosdep is bringing the required packages cargo and rust to run the rmw_zenoh_cpp. I was able to compile it properly.