High level interface

[julianschuler]

Why? What?

This PR implements communicating with the high-level Booster interface without using the Booster SDK.

Fixes #2117.

Blocked on #2177.

ToDo / Known Issues

None.

Ideas for Next Iterations (Not This PR)

Expose more of the high-level booster interface as needed.

How to Test

Compile, upload and restart the Zenoh bridge.

Create a request and publish it via Zenoh to booster/high_level_interface, e.g. using the following code:

use cdr::{CdrLe, Infinite};
use high_level_interface::{Mode, Request};
use zenoh::Config;

#[tokio::main]
async fn main() {
    let session = zenoh::open(Config::default()).await.unwrap();
    let publisher = session
        .declare_publisher("booster/high_level_interface")
        .await
        .unwrap();

    let request = Request::change_mode(Mode::Custom);
    let serialized_request = cdr::serialize::<_, _, CdrLe>(&request, Infinite).unwrap();
    publisher.put(serialized_request).await.unwrap()
}

[knoellle]

Where did you get these numbers from? If possible, add a doc-comment with the source.

[knoellle]

Isn't this only needed for binary crates?