Feature request

Currently rclcpp has a function to throw an exception based on an rcl error.

This is a request to change that function to return an exception without throwing.

throw rclcpp::exceptions::from_rcl_error(ret, "Failed to add time jump callback");

I think this could help static analysis tools like cppcheck recognize when code won't be executed due to an exception. This would remove the need for #646

Implementation considerations

throw_from_rcl_error could be refactored to use from_rcl_error rather than changing all the code at once.