Feature request

Feature description

Requires ros2/rcl#515 to be merged first.
We should add a rclpy_validate_security_context_name utility.

Implementation considerations

The rclpy function should be based in https://github.com/ros2/rcl/blob/f242967bf024804b3ed1e8b00ebf3b3b3c9541cd/rcl/include/rcl/validate_security_context_name.h#L60.