[humble] Store serialized metadata in MCAP file (backport #1423)

[mergify]

This is an automatic backport of pull request #1423 done by Mergify.
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	both modified:   rosbag2_storage_mcap/src/mcap_storage.cpp
	both modified:   rosbag2_storage_mcap/test/rosbag2_storage_mcap/test_mcap_storage.cpp

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[MichaelOrlov]

• Closing as will not be done.
  This backport is not possible without updating mcap vendor package to the v1.1.0 because we have dependencies from the mcap_reader_->metadataIndexes(); API which became available only in the cpp: bump to 1.1.0 foxglove/mcap#902