[foxy backport] Added C interfaces to obtain service and action type support.

[StefanFabian]

Backport of #143 for foxy. See #114 for discussion. Interfaces are declared in ros2/rosidl#744

[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/31470/4

[quarkytale]

CI:

• Linux
• Linux-aarch64
• Windows