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Replace rcl_take_request with rcl_take_request_with_info (#1333)

This PR updates the ROS 2 service bindings to use the newer `rcl_take_request_with_info` API instead of the deprecated `rcl_take_request` API. The change involves using `rmw_service_info_t` instead of `rmw_request_id_t` to accommodate additional service metadata.

- Updates `RclTakeRequest` to use `rcl_take_request_with_info` with `rmw_service_info_t`
- Updates `SendResponse` to extract `request_id` from `rmw_service_info_t` structure

Fix: #1330

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