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[Kilted] Support to configure introspection for action client/server (#1128)

This PR adds support for action introspection by introducing configuration functions and tests in both the action client and server modules, as well as corresponding C++ bindings.  

- Added utility functions and tests to manage configuration of introspection for action clients and servers.  
- Introduced new C++ functions guarded by ROS_VERSION checks to support introspection configuration.  
- Updated both JavaScript and TypeScript test files to verify the new introspection functionality.

Fix: #1129

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