Add testing for Jazzy packages

[emdemir]

Depends on EddyGharib/rules_ros2#7.

With this, it should be possible to test ros2_rosidl, ros2_rcl and ros2_rcl_interfaces. The first two are not fully covered yet but it's a start and verifies that the packages are built correctly at the basic level.

To test, do the following:

# Inside ros2-bazel-tools
$ ./create_workspace.py --registry path/to/bazel-public-registry --registry path/to/bazel-central-registry
# For each package:
$ cd workspace/ros2_rosidl
# Required because we don't support Bazel 8 at the moment
$ echo 7.4.1 > .bazelversion
# --cxxopt required for ros2_rcl since osrf_testing_tools_cpp needs it
$ bazel test //... --cxxopt=-std=c++17