Update rmw_publish error returns (#430)

Signed-off-by: lobotuerk <jtlorente@ekumenlabs.com>

rmw_fastrtps_shared_cpp/src/rmw_publish.cpp

@@ -34,14 +34,15 @@ __rmw_publish(
   rmw_publisher_allocation_t * allocation)
 {
   (void) allocation;
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is null", return RMW_RET_ERROR);
-  RCUTILS_CHECK_FOR_NULL_WITH_MSG(
-    ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
-
-  if (publisher->implementation_identifier != identifier) {
-    RMW_SET_ERROR_MSG("publisher handle not from this implementation");
-    return RMW_RET_ERROR;
-  }
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    publisher, "publisher handle is null",
+    return RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher, publisher->implementation_identifier, identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_FOR_NULL_WITH_MSG(
+    ros_message, "ros message handle is null",
+    return RMW_RET_INVALID_ARGUMENT);
 
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(info, "publisher info pointer is null", return RMW_RET_ERROR);