Handle a failed rcl_take() call in rclpy_take().

[hidmic]

Fixes #549.

[hidmic]

CI to check on linters:

• Linux

[hidmic]

Note to the reviewers: there's no regression test in place for this. I could try add one, though it'd probably go into test_communication and it's unclear to me if we can even trigger an rcl_take() failure consistently. Either that or mocking rcl.

[hidmic]

Alright, going in.