Better Error Handling for Native, First Steps

[shadowcpy]

Description

This PR should provide some first steps for improving the Box<dyn Error + Send + Sync> shortcuts, mainly in the ROS1 part of the library. Feedback is always welcome!

Fixes

Closes: #118

Checklist

• [x] Tests Pass
• [ ] Code Review
• [ ] CI
• [ ] Update CHANGELOG.md