Switching to example_interfaces

[CursedRock17]

This pull request is meant to address #3358, pairing with this pull request over in examples: ros2/examples#377. Most std_msgs were deprecated about 4 years ago, so I think it's fair to update the tutorials to go along with that. This pull request doesn't technically finish #3358 since I still need to update some tutorials in demos which continues to use std_msgs and the user needs to have an accurate repository to tutorial pipeline.

[fujitatomoya]

i think there are a few more places to be replaced with?

• https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
• https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Demos/Intra-Process-Communication.rst
• https://github.com/ros2/ros2_documentation/blob/rolling/source/Tutorials/Demos/Content-Filtering-Subscription.rst

and change needs to be aligned with https://github.com/ros2/demos

[CursedRock17]

All the references to std_msgs have been removed except for old versions of ROS in which it would have still been valid, or with Header, but this should sit still until changes in demos and examples are both merged.

[sloretz]

Assigned to @ahcorde to make the switch post-Jazzy release 🧇