add event_type_is_supported() for Publisher/Subscription.

[fujitatomoya]

Description

depends on ros2/rcl#1317

Fixes # (issue)

Is this user-facing behavior change?

No

Did you use Generative AI?

Yes Claude Code Opus4.6

Additional Information

[Copilot]

Pull request overview

This PR adds a public runtime capability-check API to rclcpp so application code (and rclcpp tests) can determine whether specific publisher/subscription QoS event types are supported by the currently loaded RMW implementation, via PublisherBase/SubscriptionBase.

Changes:

• Add PublisherBase::event_type_is_supported(rcl_publisher_event_type_t) and SubscriptionBase::event_type_is_supported(rcl_subscription_event_type_t) as public static APIs that forward to rcl support-check functions.
• Update test_qos_event.cpp to use the new rclcpp APIs instead of rmw_event_type_is_supported(...).
• Add unit tests asserting the rclcpp API results match the underlying rcl results.

Reviewed changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated no comments.

Show a summary per file

File	Description
rclcpp/test/rclcpp/test_qos_event.cpp	Switches capability checks to the new rclcpp APIs and adds parity tests vs rcl.
rclcpp/src/rclcpp/subscription_base.cpp	Implements SubscriptionBase::event_type_is_supported() by forwarding to rcl_subscription_event_type_is_supported().
rclcpp/src/rclcpp/publisher_base.cpp	Implements PublisherBase::event_type_is_supported() by forwarding to rcl_publisher_event_type_is_supported().
rclcpp/include/rclcpp/subscription_base.hpp	Declares the new public static capability-check API for subscriptions with Doxygen docs.
rclcpp/include/rclcpp/publisher_base.hpp	Declares the new public static capability-check API for publishers with Doxygen docs.

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[fujitatomoya]

@ahcorde can you review this?

[fujitatomoya]

Pulls: ros2/rcl#1317, #3132, ros2/rclpy#1647
Gist: https://gist.githubusercontent.com/fujitatomoya/da0945366990a7a90848379cce0e0673/raw/deef0ce8ee6811fcb8d377a8ecf8ddda07e6fe23/ros2.repos
BUILD args: --packages-above-and-dependencies rcl rclcpp rclpy
TEST args: --packages-above rcl rclcpp rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19228

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