Add cancel data to destroy subscription (#224) (#225)

* Add cancel data to destroy subscription

* Uncrustify

* Add cancel data to service/client

* Fix

* Fix client

(cherry picked from commit a17896c)

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_client.c

@@ -210,6 +210,16 @@ rmw_destroy_client(
   } else {
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)node->data;
     rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)client->data;
+
+    uint16_t client_req = uxr_buffer_cancel_data(
+      &custom_node->context->session,
+      *custom_node->context->destroy_stream,
+      custom_client->client_id);
+
+    run_xrce_session(
+      custom_node->context, custom_node->context->destroy_stream, client_req,
+      custom_node->context->destroy_timeout);
+
     uint16_t delete_client =
       uxr_buffer_delete_entity(
       &custom_node->context->session,

rmw_microxrcedds_c/src/rmw_service.c

@@ -209,6 +209,16 @@ rmw_destroy_service(
   } else {
     rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)node->data;
     rmw_uxrce_service_t * custom_service = (rmw_uxrce_service_t *)service->data;
+
+    uint16_t service_req = uxr_buffer_cancel_data(
+      &custom_node->context->session,
+      *custom_node->context->destroy_stream,
+      custom_service->service_id);
+
+    run_xrce_session(
+      custom_node->context, custom_node->context->destroy_stream, service_req,
+      custom_node->context->destroy_timeout);
+
     uint16_t delete_service =
       uxr_buffer_delete_entity(
       &custom_node->context->session,

rmw_microxrcedds_c/src/rmw_subscription.c

@@ -312,6 +312,15 @@ rmw_destroy_subscription(
     rmw_uxrce_subscription_t * custom_subscription = (rmw_uxrce_subscription_t *)subscription->data;
     rmw_uxrce_node_t * custom_node = custom_subscription->owner_node;
 
+    uint16_t datareader_req = uxr_buffer_cancel_data(
+      &custom_node->context->session,
+      *custom_node->context->destroy_stream,
+      custom_subscription->datareader_id);
+
+    run_xrce_session(
+      custom_node->context, custom_node->context->destroy_stream, datareader_req,
+      custom_node->context->destroy_timeout);
+
     destroy_topic(custom_subscription->topic);
 
     uint16_t delete_datareader =