Integrate Request-Response into introspection

## Brief feature description

Currently the port introspection only supports publisher and subscriber.

## Detailed information

In order to add the client and server to the port introspection, it must be refactored. The refactoring is part of #518.

Look for `@todo iox-#1128` comments in `port_manager.cpp`

Start with the `@todo iox-#1128` comments in `port_manager.cpp`, then read issue #518 to understand the required refactoring. Trace how publisher and subscriber ports are currently exposed through introspection. Done means client and server ports are included in port introspection after the refactoring is complete.

Written by the indexing model from the issue text.