feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

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+# cpp_qos_demo
+
+ROS2 QoS 9 种组合演示包(C++)。属于 Level 1 基础机制第 13 块。
+
+## 功能
+
+- **`qos_demo_publisher_cpp`**: 参数化 QoS 发布者
+- **`qos_demo_subscriber_cpp`**: 参数化 QoS 订阅者
+
+每个节点支持以下参数:
+
+| 参数 | 可选值 | 默认 |
+|---|---|---|
+| `reliability` | `reliable` / `best_effort` | `reliable` |
+| `durability` | `volatile` / `transient_local` | `volatile` |
+| `history` | `keep_last` / `keep_all` | `keep_last` |
+| `depth` | int | 10 |
+| `publish_rate_hz` | float | 1.0 |
+
+## 9 种常用组合
+
+| Reliability | Durability | History | 适用场景 |
+|---|---|---|---|
+| RELIABLE | VOLATILE | KEEP_LAST(10) | 默认 / 跨语言互通基线 |
+| RELIABLE | VOLATILE | KEEP_LAST(1) | 控制指令(只关心最新) |
+| RELIABLE | TRANSIENT_LOCAL | KEEP_LAST(1) | 参数 / 配置(晚订阅者也能拿到) |
+| BEST_EFFORT | VOLATILE | KEEP_LAST(1) | 视频流(丢一帧无所谓) |
+| BEST_EFFORT | VOLATILE | KEEP_LAST(10) | Lidar / 雷达 |
+| RELIABLE | VOLATILE | KEEP_ALL | 日志(必须投递,不丢) |
+
+## 兼容性矩阵
+
+| Publisher ↓ \ Subscriber → | RELIABLE | BEST_EFFORT |
+|---|---|---|
+| RELIABLE | ✅ | ❌ |
+| BEST_EFFORT | ✅ | ✅ |
+
+**关键**:`RELIABLE → BEST_EFFORT` 不兼容!sub 不发 ACK,pub 报错:
+```
+[WARN] ... New subscription discovered on this topic with incompatible QoS ...
+```
+
+## 运行
+
+```bash
+# 默认 QoS(RELIABLE + VOLATILE + KEEP_LAST(10))
+ros2 launch cpp_qos_demo qos_launch.py
+
+# BEST_EFFORT 视频流
+ros2 run cpp_qos_demo qos_demo_publisher_cpp --ros-args \
+  -p reliability:=best_effort -p history:=keep_last -p depth:=1
+
+# TRANSIENT_LOCAL(晚订阅者能拿到历史)
+ros2 run cpp_qos_demo qos_demo_subscriber_cpp --ros-args \
+  -p durability:=transient_local
+```
+
+## 测试
+
+```bash
+colcon test --packages-select cpp_qos_demo
+```
+
+测试覆盖(在 `test/test_qos_profiles.cpp`):
+
+| 用例 | 内容 |
+|---|---|
+| `DefaultProfileValues` | 默认 QoS profile 字段 |
+| `PublisherConstructsWithDefaultQoS` | Publisher 默认参数 |
+| `PublisherConstructsWithBestEffort` | BEST_EFFORT 构造 |
+| `SubscriberConstructsWithTransientLocal` | TRANSIENT_LOCAL 构造 |
+
+## 深度学习
+
+- 编程规范:[`doc/CODING_STYLE.md`](../doc/CODING_STYLE.md)
+- QoS 深度:[`doc/19-qos.md`](../doc/19-qos.md)
+- OMG DDS 规范:[`DDS 1.4 spec`](https://www.omg.org/spec/DDS/1.4/)