Rename `urcu_assert()` to `urcu_assert_debug()`

This is done in preparation for the addition of the `urcu_posix_assert()`
macro that will replace the vanilla `assert()` in the project.

We must continue to expose the `urcu_assert()` macro in the `urcu/debug.h`
file as it's used by at least one external project (LTTng-UST).

Signed-off-by: Francis Deslauriers <francis.deslauriers@efficios.com>
Signed-off-by: Mathieu Desnoyers <mathieu.desnoyers@efficios.com>
Change-Id: I02f237450a35b57e37718c87a0596a5a14468f58