Validate bound validators against parameter types

[Daniiiil1]

Closes #347

Summary

• reject scalar bound validators on array parameters during generation
• reject element-bound validators on scalar parameters
• point each error to the compatible validator family
• cover dynamic arrays, fixed arrays, and scalar parameters with regression tests

Validation

• 8 targeted pytest cases passed
• repository pre-commit hooks passed for check-ast, double-quote-string-fixer, Black, Codespell, and Pyupgrade
• Python compileall passed
• git diff --check passed

A full colcon build was not run because this machine does not have a ROS 2 environment.