Port from fork: update qos profile, rcl events, message lost event

[ivanpauno]

Ports:

• https://github.com/osrf/ros2_java/pull/20
• https://github.com/osrf/ros2_java/pull/4
• https://github.com/osrf/ros2_java/pull/9

Commits messages were edited to point to the correct PRs.

I will rebase and merge this when approved.