Reformat the visibility file adding and dependency exporting

[t0ny-peng]

1. The way how visibility file is included was changed from using -include (affecting all compiling units) to adding to each PB headers.
2. Some dependencies exporting was reformatted so that the correct one fromrosidl_generator_c and rosidl_runtime_c will be exported, depending on the ROS2 version.

Tested over Foxy.

@brakmic-aleksandar Would you please review this PR? One thing I'm not so sure is this line. Seems that this is the only way to use msg from the same package while not installing them(e.g., for test purpose). It's a weird use case but actually exists somewhere.

https://github.com/t0ny-peng/rosidl_typesupport_protobuf/blob/41c0b20c7087e642a35b2f0d6ec6902e9c89c75f/rosidl_typesupport_protobuf_cpp/cmake/rosidl_typesupport_protobuf_cpp_generate_interfaces.cmake#L142 #

[brakmic-aleksandar]

@t0ny-peng Regarding your question, we should leave that line in as is so we can cover that use case, we can always change it in the future if we find a better way to do it.