Generate version header using `ament_generate_version_header(..)` (backport #1141)

[mergify[bot]]

trafficstars

Would fix #1139.

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This is an automatic backport of pull request #1141 done by [Mergify](https://mergify.com).

[mergify[bot]]

Cherry-pick of 5766d5e629c1f6ad8965b07e65968873e1f796b7 has failed:

On branch mergify/bp/iron/pr-1141
Your branch is up to date with 'origin/iron'.

You are currently cherry-picking commit 5766d5e.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   rcl/CMakeLists.txt
	modified:   rcl/package.xml
	modified:   rcl_action/package.xml
	modified:   rcl_lifecycle/package.xml
	modified:   rcl_yaml_param_parser/CMakeLists.txt
	modified:   rcl_yaml_param_parser/package.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rcl_action/CMakeLists.txt
	both modified:   rcl_lifecycle/CMakeLists.txt

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[fujitatomoya]

CI:

• Linux
• Linux-aarch64
• Windows

[gavanderhoorn]

Friendly ping?