Implement allocator refactor for type support structs

Signed-off-by: methylDragon <[email protected]>

Author: methylDragon

rmw/src/dynamic_message_type_support.c

@@ -65,15 +65,24 @@ rmw_dynamic_message_type_support_handle_create(
   // NOTE(methylDragon): Not supported for now
   // RMW_CHECK_ARGUMENT_FOR_NULL(type_description_sources, RMW_RET_INVALID_ARGUMENT);
 
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+
   return rmw_convert_rcutils_ret_to_rmw_ret(
     rosidl_dynamic_message_type_support_handle_create(
-      serialization_support, type_hash, type_description, type_description_sources, ts));
+      serialization_support,
+      type_hash,
+      type_description,
+      type_description_sources,
+      &allocator,
+      ts));
 }
 
 rmw_ret_t
 rmw_dynamic_message_type_support_handle_destroy(rosidl_message_type_support_t * ts)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(ts, RMW_RET_INVALID_ARGUMENT);
+  if (!ts) {
+    return RCUTILS_RET_OK;
+  }
   return rmw_convert_rcutils_ret_to_rmw_ret(rosidl_dynamic_message_type_support_handle_destroy(ts));
 }