Add alternative domain API configuration

[Acuadros95]

Related:

• https://github.com/micro-ROS/micro_ros_renesas_testbench/issues/31
• https://github.com/micro-ROS/micro_ros_renesas_testbench/pull/33

Override:

• https://github.com/micro-ROS/rcl/pull/14

[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	2	5608 B
Topic	8	56 B
Service	4	168 B
Client	4	168 B
Subscription	4	168 B
Publisher	4	184 B
Node	4	56 B
Static input buffer	8	2136 B

TOTAL: 31508 B