Add ros-z MCAP topic recording

[schmidma]

Summary

• add a reusable ros-z-recording crate for MVP MCAP topic recording
• add rosz record [--output <path>] <topic>... with text summaries, existing-output preflight, and configurable CLI node identity
• verify recorded MCAP contents end to end, including raw payload bytes, ros-z encodings, and qualified topic resolution

Motivation

This gives developers a local ros-z topic recorder without adding robot-side services, replay support, or broader recording workflow changes.

Implementation

The recording backend resolves requested topics at startup with normal ros-z topic qualification rules, writes raw Zenoh sample payloads to MCAP with ros-z.schema.v1 schemas and ros-z.cdr messages, and finalizes on Ctrl-C or internal recording failure. The MVP keeps publisher provenance, drop counts, replay, and JSON record output out of scope. The CLI rejects --json record before graph setup.

Verification

• cargo nextest run -p ros-z-recording -p ros-z-cli
• cargo test --doc -p ros-z-recording -p ros-z-cli
• cargo clippy -p ros-z-recording -p ros-z-cli --all-targets --locked -- -D warnings
• git diff --check ddf687a4393935f18781a57ea7cfa001cfd2c557..HEAD