Use rmw_event_type_is_supported to skip tests (backport #563)

[mergify]

Related with this issue ros2/rmw_zenoh#285. Use the new API in rmw to check if an event is supported

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This is an automatic backport of pull request #563 done by Mergify.

[mergify]

Cherry-pick of 8d0b7de has failed:

On branch mergify/bp/jazzy/pr-563
Your branch is up to date with 'origin/jazzy'.

You are currently cherry-picking commit 8d0b7de.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   test_quality_of_service/test/test_deadline.cpp
	both modified:   test_quality_of_service/test/test_liveliness.cpp

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[ahcorde]

Pulls: #564
Gist: https://gist.githubusercontent.com/ahcorde/784a45362f6c87da578e0dddf9d96609/raw/77e6bebfd0b8b6f04d3495c73ba5e77990d63055/ros2.repos
BUILD args: --packages-up-to test_quality_of_service --packages-above-and-dependencies test_quality_of_service
TEST args: --packages-select test_quality_of_service --packages-above test_quality_of_service
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15351

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