This issue is to add user manual and documentation as a follow-up of ros2/rosbag2#1481

Documentation to Add

• ros2 bag record <services> to record the service data into the bag files.
• ros2 bag play <services> to replay the service requests and see the service server result with ros2 service echo.
• add description to https://github.com/ros2/ros2_documentation/blob/rolling/source/Releases/Release-Jazzy-Jalisco.rst