Refactor internal headers (backport #181)

[mergify]

This is an automatic backport of pull request #181 done by Mergify.

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[github-actions]

Static memory analysis

Default configuration

MTU: 512 B
Input buffer size: 2048 B
Input history: 4
Output buffer size: 2048 B
Output history: 4

Entity	Qty	Size per unit
Context	2	5608 B
Topic	8	56 B
Service	4	168 B
Client	4	168 B
Subscription	4	168 B
Publisher	4	184 B
Node	4	56 B
Static input buffer	8	2136 B

TOTAL: 31508 B