Alternate solution for one-shot-subscribe (#666 and #667)

[Affonso-Gui]

Class-closures are a good way for creating closures with global scope in eus9.
However, when rethinking about #666 and #667, I have reached the conclusion that simply enforcing local closures should be enough for dealing with the one-shot-subscribe function.

We can do that by:

1. Forcing unsubscribe with unwind-protect
2. Blocking function calls which are done from an incomplete preempted state (i.e. without reset'ing and running the cleanup)

With this change:

1. (one-shot-subscribe ...) -> C-c -> (one-shot-subscribe ...)  ;; [ERROR] please unsubscribe
2. (one-shot-subscribe ...) -> C-c -> (ros::unsubscribe ...) -> (one-shot-subscribe ...)  ;; ok
3. (one-shot-subscribe ...) -> C-c -> (reset) -> (one-shot-subscribe ...)  ;; ok
4. (one-shot-subscribe ...) -> C-c -> (reset) -> (ros::spin-once)  ;; ok

This has minimal changes to the current implementation and is compatible with both eus9 and eus10.

@708yamaguchi @tkmtnt7000