Avoid CPP typesupport when not needed

[github-actions[bot]]

Static memory analysis

Default configuration

MTU: 512 B Input buffer size: 2048 B Input history: 4 Output buffer size: 2048 B Output history: 4

Entity	Qty	Size per unit
Context	1	5584 B
Topic	12	56 B
Service	4	80 B
Client	4	72 B
Subscription	4	168 B
Publisher	8	184 B
Node	4	56 B
Static input buffer	8	2120 B

TOTAL: 25020 B

[codecov-commenter]

Codecov Report

Merging #140 (d3a8b9b) into main (2672a1d) will increase coverage by 0.25%. The diff coverage is n/a.

:exclamation: Current head d3a8b9b differs from pull request most recent head 84d3222. Consider uploading reports for the commit 84d3222 to get more accurate results

@@            Coverage Diff             @@
##             main     #140      +/-   ##
==========================================
+ Coverage   47.92%   48.17%   +0.25%     
==========================================
  Files          41       41              
  Lines        1515     1507       -8     
  Branches      306      302       -4     
==========================================
  Hits          726      726              
+ Misses        580      576       -4     
+ Partials      209      205       -4     

Impacted Files	Coverage Δ
rmw_microxrcedds_c/src/rmw_publisher.c	49.25% <0.00%> (+0.72%)	:arrow_up:
rmw_microxrcedds_c/src/rmw_subscription.c	52.94% <0.00%> (+0.76%)	:arrow_up:
rmw_microxrcedds_c/src/rmw_service.c	54.00% <0.00%> (+1.05%)	:arrow_up:
rmw_microxrcedds_c/src/rmw_client.c	54.54% <0.00%> (+1.08%)	:arrow_up:

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