feat: first working dds_recorder

[nomanfound]

Summary

This PR adds the initial DDS recorder.
close #2294

What’s included

• Basic recording

Not included (working on it)

• DDS replayer
• Docs

Usage

Usage:
./bin/recorder <topic_name> [-i <topic.idl> -t <type_name>]

For example:
./bin/recorder HelloWorldData_Msg -i ../examples/helloworld/HelloWorldData.idl -t HelloWorldData::Msg

Note:

• To stop recording, just press ctrl+c.
• The IDL should contain the complete type definition of <type_name>.
• The IDL must not contain '#include' directives.
• if idl is not provided, the output mcap won't be able be visualized by tools like foxglove/lichtblick,
  but it always can be replayed by our dds_replayer.

Testing

• Manually verified recording and file integrity on Linux with foxglove

Feedback is welcome!