Update after new intra-process communication

The new intra-process communication was merged yesterday, see https://github.com/ros2/rclcpp/pull/778

I kept retrying the failing job today expecting it to eventually pass (as usual), but then realized why that didn't work. The new intra-process communication doens't use rmw/DDS to send meta messages (which test_intra checked).

I will need to go through the new intra-process communication code to understand what it does (and how, etc.) and then update the intra-process instrumentation + update the tests.