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Fix deprecated subscriber callback warnings

Abrar Rahman Protyasharequested to merge
aprotyas/ros2_tracing:aprotyas/deprecate-shared-ptr-sub-callback into master

github:ros2/rclcpp#1713 deprecates the void shared_ptr<T> subscription callback signatures, so this PR migrates away from said signatures.

Signed-off-by: Abrar Rahman Protyasha abrar@openrobotics.org

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