We should make sure the CI jobs are green before merging. Since this change is not compatible with Foxy, we should probably branch (FYI @JWhitleyWork). For Rolling, we should make releases for the changes to image_common and message_filters (I can help with that); for Galactic it may require backporting those changes (I'll check when releasing for Rolling).

I think I'm going to make a PR to rclcpp to create a default QoS override options object to remove some redundancy.

@JWhitleyWork Friendly ping for review. It sounds like we may also want to re-target this to a new rolling branch once it exists (#659 (comment))

@ros-pull-request-builder retest this please

Tested this on ros2 galactic and ros2 rolling. It builds and passes all tests. I made two small edits to the package.xml files in this PR.

Re-targeted rolling.

@ros-pull-request-builder retest this please