Make ServiceData thread-safe

[Yadunund]

Thread-safe access to the rmw_service_t handler. Followed the exact same pattern as in #288

[ahcorde]

ros2.repos

rmw_zenoh/yadu/raii-service

• rmw_zenoh commit: cc4eb19

ROS Package	Failing test name	Failing test output
rcl	None	None
rcl_action	None	None
rcl_lifecycle	None	None
rcl_yaml_param	None	None
rclcpp	test_intra_process_manager	Failed (Check logs)
rclcpp	test_node_interfaces__node_graph	Failed (Check logs)
rclcpp	test_publisher	Failed (Check logs)
rclcpp	test_events_executor	Timeout (Check logs)
rclcpp	test_wait_set	Failed (Check logs)
rclcpp_action	None	None
rclcpp_components	None	None
rclcpp_lifecycle	None	-
rmw_zenoh_cpp	None	None
test_cli	None	None
test_cli_remap	test_cli_remapping	TBD

[ahcorde]

Just some minor comments. Tests are in the same status, I think it's safe to merge it

[ahcorde]

This PR ros2/rclcpp#2648 removed the wait_set failure

[clalancette]

I also tested this with the Nav2 test, and it seems to work pretty well.