Fix for rosbag2_transport::Recorder failures due to the unhandled exceptions (#1382)

* Fix for rosbag2_transport::Recorder failures due to unhandled exceptions

Signed-off-by: Michael Orlov <[email protected]>

* Revert "Fix for rosbag2_transport::Recorder failures due to unhandled exceptions"

This reverts commit 767d440.

Signed-off-by: Michael Orlov <[email protected]>

* Handle exceptions in event publisher and discovery threads

- Exceptions potentially may come from the underlying node operations
when we are invalidating context via rclcpp::shutdown(). We need to have
possibility to correct finish recording in this case.

Signed-off-by: Michael Orlov <[email protected]>

---------

Signed-off-by: Michael Orlov <[email protected]>
(cherry picked from commit bb8d2a5)

# Conflicts:
#	rosbag2_transport/src/rosbag2_transport/recorder.cpp

Author: morlov-apexai