Change context creation to besteffort with no timeout (#260) (#261)

* Creation stream API

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Update

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
(cherry picked from commit 895763c)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_microros/timing.c

@@ -60,6 +60,10 @@ rmw_ret_t rmw_uros_set_context_entity_creation_session_timeout(
   RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   rmw_uxrce_session_t * custom_session = (rmw_uxrce_session_t *)context->impl;
 
+  rmw_context_impl_t * context_impl = (rmw_context_impl_t *) context->impl;
+  custom_session->creation_stream = session_timeout <= 0 ?
+    &context_impl->best_effort_output : &context_impl->reliable_output;
+
   custom_session->creation_timeout = session_timeout;
   return RMW_RET_OK;
 }
@@ -71,6 +75,10 @@ rmw_ret_t rmw_uros_set_context_entity_destroy_session_timeout(
   RMW_CHECK_ARGUMENT_FOR_NULL(context, RMW_RET_INVALID_ARGUMENT);
   rmw_uxrce_session_t * custom_session = (rmw_uxrce_session_t *)context->impl;
 
+  rmw_context_impl_t * context_impl = (rmw_context_impl_t *) context->impl;
+  custom_session->destroy_stream = session_timeout <= 0 ?
+    &context_impl->best_effort_output : &context_impl->reliable_output;
+
   custom_session->destroy_timeout = session_timeout;
   return RMW_RET_OK;
 }