Investigate performance of `matches_any_publishers()` when enabling intraprocess

[mini-1235]

Related to https://discourse.openrobotics.org/t/performance-characteristics-subscription-callback-signatures-rmw-implementation-intra-process-communication-ipc/51454/9?u=mini-1235

From the flamegraphs, it seems like rclcpp::experimental::IntraProcessManager::matches_any_publishers has a non-trivial overhead, it would be interesting to investigate whether this can be optimized

Opening this issue to make sure it's not forgotten, more background and discussion can be found in the original post linked above

[fujitatomoya]

@mini-1235 #3068 works for you?

[mini-1235]

@fujitatomoya Thanks for the super fast PR! I will test it and get back to you in a few days