Adds logic for delayed reconciliation of unassociated readers and writers

[cvilas]

(cherry picked from commit 4bb698e2a23fdc3a4d9907b49064492ffbdc8913)

Description

For a description of the issue resolved here, see #3544

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• Any new/modified methods have been properly documented using Doxygen.
• Changes are ABI compatible.
• Changes are API compatible.
• New feature has been added to the versions.md file (if applicable).
• New feature has been documented/Current behavior is correctly described in the documentation.
• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[EduPonz]

Hi @cvilas, thanks for your contribution. We've talked about this internally and have decided to close the PR for now. This PR is providing a work around for a problem that should not exist in the first place so we think a proper fix for it would be more suitable. In any case, is a good reference should someone want to cherry-pick this work.

[Timple]

Since I just encountered this issue: has any proper fixing been done in the meantime?

Running ROS2 iron