Support exception in callback

[furushchev]

This PR introduces improvements in exception handling during the invocation of registered callback functions. The changes ensure that exceptions thrown within callbacks are managed appropriately, leading to the following benefits:

• Continuous Execution: If an exception occurs during the execution of a callback, the overall program does not halt and continues to execute.
• Dynamic Reconfiguration Support: By allowing specific exceptions to be thrown within the callback during requests to change values by the Dynamic Reconfigure client, the system can notify of a failure of the changing to the client and rollback any changes as needed.

In addition to the changes, I fixed an issue on that the registerVariable did not reflect the initial value set by dynamic reconfigure (stored in rosparam).


The test case is also added.