Implement event handler (#1159)

This PR adds support for subscription and publisher event handlers across native bindings and the JavaScript API, and updates tests and type definitions accordingly.

- Introduce C++ bindings and event handle management in `HandleManager` and `Executor`
- Extend `Node`, `Subscription`, and `Publisher` classes to accept and clean up event callbacks
- Add and adjust tests and type declarations for event handler functionality

Fix: #1142, #492

Author: minggangw

binding.gyp

@@ -173,6 +173,7 @@
           # After Humble, e.g., Jazzy, Kilted.
           'ros_version > 2205', {
             'sources': [
+              './src/rcl_event_handle_bindings.cpp',
               './src/rcl_type_description_service_bindings.cpp',
             ]
           }