Add unit tests to cover message's send and received timestamps during recording #3943

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Run time

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Job	Run time
ament_cppcheck	1m 8s
ament_cppcheck	45s
ament_cpplint	58s
ament_pep257	44s
ament_cpplint	45s
ament_uncrustify	50s
ament_flake8	50s
ament_copyright	1m 20s
ament_clang_format	44s
ament_xmllint	49s
	8m 53s