[humble] Use RMW methods to initialize endpoint info (backport #1257)

[mergify]

This is an automatic backport of pull request #1257 done by Mergify.

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[MichaelOrlov]

Gist: https://gist.githubusercontent.com/MichaelOrlov/16a912a323c01305ccd5f4ac3b5bfe33/raw/91d3b745ebb54667d4710fcd70c6427802d0e6e3/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_transport
TEST args: --packages-above rosbag2_transport
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11844

• Linux
• Linux-aarch64
• Windows

[MichaelOrlov]

build_and_test failed with unrelated errors in rosidl_dynamic_typesupport_fastrtps package.
It seems broken on baseline.
cc: @clalancette a week ago I haven't seen this error at least in #1142
However CI passing green - Since this is a backport and in original PR all jobs passed, merging then.

[clalancette]

We need to do a bunch of releases into Rolling for things to work.

That said, Windows CI failed outright, so I don't think this should have been merged.

[MichaelOrlov]

@clalancette Windows CI failed because it was to slow and I haven't wait it till it finished and merged this PR.
It's failed because at the moment when Windows runner was trying to pull changes from the branch - the branch has already been deleted.

I was pretty assure that Windows CI build will pass.
To prove it I've re-run Windows CI on another branch #1142 (comment) which I rebased on top of latest humble with changes from this PR. It passes green.
However error in rosidl_dynamic_typesupport_fastrtps package still exists https://github.com/ros2/rosbag2/actions/runs/4661768584/jobs/8251418933?pr=1142

[clalancette]

@clalancette Windows CI failed because it was to slow and I haven't wait it till it finished and merged this PR.

So this is the problem; this isn't our process. Our process currently is to wait for Windows CI to complete. I know that Windows is slow, and we are going to look into trying to speed it up. But Windows is the most likely to fail, so merging before Windows is complete is likely to make more work for us at some point.

However error in rosidl_dynamic_typesupport_fastrtps package still exists https://github.com/ros2/rosbag2/actions/runs/4661768584/jobs/8251418933?pr=1142

That's because this action is misconfigured, and is pulling ros2.repos from master (which hasn't been correct for a year now). See #1277 .

[MichaelOrlov]

@clalancette Thanks for catching this up. I see you have made fixes for rolling.
It seems we need to make the same for humble.
I will do it.