Improve error messages in rcl_lifecycle

[ahcorde]

rcl_lifecycle is using only two kind of errors: RCL_RET_ERROR and RCL_RET_OK. There is room for improvement here. We should add a more accurate error message.

[brawner]

Thanks for opening the issue @ahcorde! For reference, this follows up #649, where we decided to hold off on changing return codes until after the foxy release

[llapx]

I just modify the headers files, mainly for document, if it's OK, I will push the code, thanks!

[ahcorde]

Closed via #742