Runtime error handling API (backport #212)

[mergify[bot]]

This is an automatic backport of pull request #212 done by Mergify. Cherry-pick of 266248d8111e058af36d1ccc7de2b50bdb6840cf has failed:

On branch mergify/bp/foxy/pr-212
Your branch is up to date with 'origin/foxy'.

You are currently cherry-picking commit 266248d.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
    modified:   rmw_microxrcedds_c/CMakeLists.txt
    new file:   rmw_microxrcedds_c/include/rmw_microros/error_handling.h
    modified:   rmw_microxrcedds_c/include/rmw_microros/rmw_microros.h
    modified:   rmw_microxrcedds_c/include/rmw_microros/time_sync.h
    modified:   rmw_microxrcedds_c/include/rmw_microros/timing.h
    modified:   rmw_microxrcedds_c/include/rmw_microxrcedds_c/rmw_c_macros.h
    modified:   rmw_microxrcedds_c/src/callbacks.c
    modified:   rmw_microxrcedds_c/src/config.h.in
    modified:   rmw_microxrcedds_c/src/rmw_client.c
    modified:   rmw_microxrcedds_c/src/rmw_compare_gids_equal.c
    modified:   rmw_microxrcedds_c/src/rmw_count.c
    modified:   rmw_microxrcedds_c/src/rmw_event.c
    modified:   rmw_microxrcedds_c/src/rmw_get_gid_for_publisher.c
    modified:   rmw_microxrcedds_c/src/rmw_get_topic_endpoint_info.c
    modified:   rmw_microxrcedds_c/src/rmw_graph.c
    modified:   rmw_microxrcedds_c/src/rmw_guard_condition.c
    modified:   rmw_microxrcedds_c/src/rmw_init.c
    modified:   rmw_microxrcedds_c/src/rmw_logging.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/continous_serialization.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/custom_transport.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/discovery.c
    new file:   rmw_microxrcedds_c/src/rmw_microros/error_handling.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/init_options.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/ping.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/time_sync.c
    modified:   rmw_microxrcedds_c/src/rmw_microros/timing.c
    new file:   rmw_microxrcedds_c/src/rmw_microros_internal/error_handling_internal.h
    modified:   rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c
    modified:   rmw_microxrcedds_c/src/rmw_node.c
    modified:   rmw_microxrcedds_c/src/rmw_node_info_and_types.c
    modified:   rmw_microxrcedds_c/src/rmw_node_names.c
    modified:   rmw_microxrcedds_c/src/rmw_publish.c
    modified:   rmw_microxrcedds_c/src/rmw_publisher.c
    modified:   rmw_microxrcedds_c/src/rmw_request.c
    modified:   rmw_microxrcedds_c/src/rmw_response.c
    modified:   rmw_microxrcedds_c/src/rmw_serialize.c
    modified:   rmw_microxrcedds_c/src/rmw_service.c
    modified:   rmw_microxrcedds_c/src/rmw_service_names_and_types.c
    modified:   rmw_microxrcedds_c/src/rmw_service_server_is_available.c
    modified:   rmw_microxrcedds_c/src/rmw_subscription.c
    modified:   rmw_microxrcedds_c/src/rmw_take.c
    modified:   rmw_microxrcedds_c/src/rmw_topic_names_and_types.c
    modified:   rmw_microxrcedds_c/src/rmw_trigger_guard_condition.c
    modified:   rmw_microxrcedds_c/src/rmw_uxrce_transports.c
    modified:   rmw_microxrcedds_c/src/rmw_wait_set.c
    modified:   rmw_microxrcedds_c/src/types.c
    modified:   rmw_microxrcedds_c/src/utils.c
    modified:   rmw_microxrcedds_c/test/test_client.cpp
    modified:   rmw_microxrcedds_c/test/test_node.cpp
    modified:   rmw_microxrcedds_c/test/test_publisher.cpp
    modified:   rmw_microxrcedds_c/test/test_reqres.cpp
    modified:   rmw_microxrcedds_c/test/test_service.cpp
    modified:   rmw_microxrcedds_c/test/test_sizes.cpp
    modified:   rmw_microxrcedds_c/test/test_subscription.cpp
    modified:   rmw_microxrcedds_c/test/test_topic.cpp
    modified:   rmw_microxrcedds_c/test/test_utils.hpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
    deleted by us:   rmw_microxrcedds_c/src/rmw_get_endpoint_network_flow.c
    deleted by us:   rmw_microxrcedds_c/src/rmw_qos_profile_check_compatible.c
    both modified:   rmw_microxrcedds_c/src/rmw_wait.c

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[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	5616 B
Topic	8	56 B
Service	4	248 B
Client	4	248 B
Subscription	4	272 B
Publisher	4	280 B
Node	4	208 B
Static input buffer	8	2136 B
Init options	6	64 B
Wait sets	4	56 B
Guard Condition	4	64 B

TOTAL: 34436 B