Add support for lyrical.

[jpace121]

Description

Replacement for #640.

This MR rebases all the commits from the linked MR on top of main and adds the lyrical bindings file which was missing from the above MR.

Verification

Builds locally. The min pub sub example works in my local workspace.

[jpace121]

Caused by:
process didn't exit successfully: /__w/ros2_rust/ros2_rust/ros_ws/build/rclrs/debug/deps/rclrs-9634ec9615184451 --color=never --quiet (signal: 11, SIGSEGV: invalid memory reference)

Well that's interesting. Not really sure what's happening here...

[jpace121]

It appears the segfault has something to do with Actions. Not sure what though.

[jpace121]

I'll be honest, I have a bad feeling the seg fault is something that also happens in rolling given how similar the bindings are.

[esteve]

@jpace121 thanks for submitting this PR, I'll close the other one as the original submitter hasn't addressed my feedback since submitting #640 . This segfault might be related to #659 , but needs further debugging, though it's strange that Rolling doesn't seem to be affected in CI.

[jpace121]

I made a first pass at seeing if the linked MR fixed the issue locally, but it appears to test that, I'd need to rebuild basically every msg package, which is beyond what I'm interested in biting off tonight.

I'll look at that later, I think its going to require some thinking on how to get that to work.