Use new Blueberry `v2.0.3` feature request-response and its discovery

[mossmaurice]

• Implements rmw_* functions need for request-response aka ROS 2 service-client communication.
  • Creates two new abstractions IceoryxServer and IceoryxClient
  • Implement type support
  • rmw_get_service_names_and_types is not fully implemented and only contains the data available through ServiceDiscovery as the server and clients and not yet published via the introspection ports

Commands for a quick test:

./install/bin/iox-roudi -l verbose -m off
RMW_IMPLEMENTATION=rmw_iceoryx_cpp ros2 run demo_nodes_cpp add_two_ints_server
RMW_IMPLEMENTATION=rmw_iceoryx_cpp ros2 run demo_nodes_cpp add_two_ints_client
RMW_IMPLEMENTATION=rmw_iceoryx_cpp ros2 service list --show-types

Open questions:

• Is the writer GUID needed? :heavy_check_mark:
• Is there a better workaround than sleeping in rmw_send_response? See here for rmw_cyclonedds comment :heavy_check_mark: Bug in iceoryx, see https://github.com/eclipse-iceoryx/iceoryx/issues/1855
• How can the full type be aquired via rosidl to do an alignof()? :heavy_check_mark: Created https://github.com/eclipse-iceoryx/iceoryx/issues/1845
• Proposal for extending ServiceDiscovery to query node and other relevant info, tbd in the next developer meetup -> Added to the meeting agenda :heavy_check_mark:

Known limitations:

• The request payload pointer is stored in the iceoryx server abstraction. It would be better to extend rmw_request_id_t and add a void * there if accepted in upstream https://github.com/ros2/rmw/. For now, the limitation exists to always call rmw_take_request followed by rmw_send_response and not call e.g. 2x times rmw_take_request and then 2x rmw_send_response.

Closes #76 (partly)

[mossmaurice]

@elBoberido Would you mind reviewing this PR?

FYI @budrus @ZhenshengLee if you interested in having a look.

[mossmaurice]

Currently, this PR is blocked by https://github.com/eclipse-iceoryx/iceoryx/pull/1505 and https://github.com/eclipse-iceoryx/iceoryx/issues/1668. Once iceoryx Blueberry v2.0.3 has been released, this PR can be merged.