[RePR from #114] Fixed missing C interfaces to obtain service and action type support.

[StefanFabian]

Currently, only message type support contains a C interface to dynamically load the type support from a library. This PR adds a C interface for services and actions.

New PR since the previous fork was unfortunately deleted and could not be rebased. For discussions see #114 .

[clalancette]

CI for this is in https://github.com/ros2/rosidl/pull/703#issuecomment-1547886393

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/preparing-for-foxy-fitzroy-end-of-life/31470/2

[achim-k]

@mergifyio backport humble

(Probably won't work for me, can one of the contributors trigger that?)

[mergify[bot]]

backport humble

❌ Command disallowed due to command restrictions in the Mergify configuration.

- [ ] `sender-permission>=write`