Added rmw_event_type_is_supported

[ahcorde]

Related with this issue ros2/rmw#394. Check if a event is supported by the rmw

[ahcorde]

Pulls: ros2/rmw#395, ros2/rmw_implementation#250, ros2/rmw_cyclonedds#532, ros2/rmw_fastrtps#809, #173
Gist: https://gist.githubusercontent.com/ahcorde/f7979a231857cd476a5e7f5ecc5e96cc/raw/d7b1d7bff818a741abc52a4b3c4a30522a0d8002/ros2.repos
BUILD args: --packages-above-and-dependencies rmw rmw_implementation rmw_cyclonedds_cpp rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp rmw_connextdds_common
TEST args: --packages-above rmw rmw_implementation rmw_cyclonedds_cpp rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp rmw_fastrtps_shared_cpp rmw_connextdds_common
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15294

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

To keep this consistent with how the code is structured, let's make a couple of changes:

• Call this function rmw_api_connextdds_event_type_is_supported.
• Add its declaration in the header rmw_connextdds_common/include/rnw_connextdds/rmw_api_impl.hpp in the "Event API" section.
• Use the implementation of is_even_supported and delete the function.
• Add the function rmw_event_type_is_supported in both rmw_api_impl_ndds.cpp and rmw_api_impl_rtime.cpp in the "Event API" section using the common rmw_api_connextdds_event_type_is_supported function.

[fgallegosalido]

@ahcorde I've added a couple of comments to keep the code consistent. Take a look at then whenever you can