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Make ROS1 service type retrieval more robust (#316)
### Changelog Fix node crashing in some cases when retrieving ROS1 service types ### Docs None ### Description In #306, it was reported that foxglove bridge crashed due to [this assertion](https://github.com/ros/ros_comm/blob/845f74602c7464e08ef5ac6fd9e26c97d0fe42c9/clients/roscpp/src/libros/connection.cpp#L274) when retrieving ROS1 service types. I believe that the reason for this assertion was that the header callback was set twice: Once in our code and once in the [ServiceServerLink](https://github.com/ros/ros_comm/blob/845f74602c7464e08ef5ac6fd9e26c97d0fe42c9/clients/roscpp/src/libros/service_server_link.cpp#L118). To avoid this, I have reworked the service retrieval to not create a `ServiceServerLink` instance but instead work with a raw `ros::Connection`. Fixes #306
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