Proposal for phasing/staging moving forward on this:
1. Create `rcpputils` package with annotation macros
1. Enable `-Wthread-safety` on `rmw_fastrtps` and migrate to the private-mutex pattern for `TopicCache`
1. Enable `-Wthread-safety-negative` on `rmw_fastrtps` and add negative capability annotations where needed
1. Perform 2&3 on the other rmw implementations
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