add user tutorial and release note for ros2 bag service echo/play

[fujitatomoya]

This issue is to add user manual and documentation as a follow-up of ros2/rosbag2#1481

Documentation to Add

• ros2 bag record <services> to record the service data into the bag files.
• ros2 bag play <services> to replay the service requests and see the service server result with ros2 service echo.
• add description to https://github.com/ros2/ros2_documentation/blob/rolling/source/Releases/Release-Jazzy-Jalisco.rst

[fujitatomoya]

all tasks are completed, closing.

@clalancette thanks for the help!

CC: @Barry-Xu-2018 @MichaelOrlov