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Leverage rcl_arguments_get_unparsed_ros() to get unsupported args (#1342)

This PR enhances ROS argument validation by leveraging the RCL API function `rcl_arguments_get_unparsed_ros()` to detect and report unknown ROS arguments. The implementation replaces the simple boolean check `HasUnparsedROSArgs()` with a more comprehensive `ThrowIfUnparsedROSArgs()` function that provides detailed error messages listing the specific unknown arguments.

Key changes:
- Implemented `ThrowIfUnparsedROSArgs()` to detect and report unparsed ROS arguments with detailed error messages
- Added test coverage for unknown ROS argument detection during both context initialization and node creation
- Integrated the new validation into both `rcl_init()` and `rcl_node_init()` code paths

Fix: #1330

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