Compatiblity with 'Populate Transitions' ros2/rcl#1269

[SuperJappie08]

Description

Compatibility with ros2/rcl#1269

Fixes #564

Is this user-facing behavior change?

Yes, the timestamp and transition field of a lifecycle_msg/TransitionEvent will be filled.

Did you use Generative AI?

No.

Additional Information

Requires ros2/rcl#1269