Support for MCAP and ROS 2 conversion - output

[michalpelka]

I would like to add tooling (e.g. for raw-viewer) and also to CLI tool to export to MCAP.

• export data from LAZ/CSV to MCAP ROS 2 BAG with choosen message names and fields. Presets for :
  • HESAI
  • VELODYNE
  • OUSTER
  • Livox (pointcloud)

In first step we can use ROS 2 Jazzy / Lyrical and expect to function to run on Ubuntu / ROS 2 env.
In next step simple exporter with C++ MCAP and handwriten CDR should be added instead.