Add new interfaces to enable intropsection for action

[Barry-Xu-2018]

Address ros-infrastructure/rep#405

Depend on ros2/rcl#1207

[fujitatomoya]

@Barry-Xu-2018 i will review this tomorrow.

[Barry-Xu-2018]

Gist: https://gist.githubusercontent.com/Barry-Xu-2018/b7bf6ed7353257611b68a0995631452b/raw/b387cbc5288950964bb388b5cb4196b6ad82fcc9/ros2_rolling.repos

BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15347

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[Barry-Xu-2018]

Windows is unstable.
It reported a failure test ros2bag.test.test_record_qos_profiles.test_record_qos_profiles

It should not be related to this change.
I re-run Windows CI again

• Windows

[fujitatomoya]

windows CI disconnected, i just restarted the new one. and i agree, it should not be related to this PR.

[fujitatomoya]

@Barry-Xu-2018 just in case, let's make sure windows CI is not affected by this PR.

[fujitatomoya]

https://ci.ros2.org/job/ci_windows/23577/testReport/junit/ros2bag.test/test_record_qos_profiles/test_record_qos_profiles/ cannot be related to this PR, i will go ahead to merge this.