[humble] Don't crash when type definition cannot be found, and find srv defs if available

[emersonknapp]

Part of #1336
Manual Humble backport of #1350 and #1341 combined

Required significant manual changes because the class in question is located in rosbag2_storage_mcap, which slightly different function signatures and a different linter configuration.

[MichaelOrlov]

@emersonknapp It seems need to add action_msgs in package.xml as dependencies.

13:40:50 --- stderr: rosbag2_storage_mcap_testdata
13:40:50 CMake Error at /opt/ros/humble/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:147 (message):
13:40:50   Unable to generate action interface for 'action/BasicAction.action'.  In
13:40:50   order to generate action interfaces you must add a depend tag for
13:40:50   'action_msgs' in your package.xml.
13:40:50 Call Stack (most recent call first):
13:40:50   CMakeLists.txt:11 (rosidl_generate_interfaces)

[emersonknapp]

Pulls: #1398
Gist: https://gist.githubusercontent.com/emersonknapp/145cdf26557a3c14cb13969cb22c3562/raw/3d4c45e5ec85b4f8bc9a4bc2b59c1a3a52d5336b/ros2.repos
BUILD args: --packages-above-and-dependencies rosbag2_storage_mcap rosbag2_storage_mcap_testdata
TEST args: --packages-above rosbag2_storage_mcap rosbag2_storage_mcap_testdata
ROS Distro: humble
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/12244

• Linux
• Linux-aarch64
• Windows

[russkel]

@emersonknapp you are the MVP.

Thanks for this.