Add basic support for type adaptation (REP 2007) in rviz_common for displays

[roncapat]

I found it useful to implement my own displays.

It comes useful when (each bullet is valid standalone):

• you just want to develop a display by receiving data in a format that it easier or more efficient to work with w.r.t. ROS messages
• you want to leverage IPC and zero-copy via
  • dynamic composition of other nodes in Rviz
    • rviz2 via composition #1114
    • Use Rviz as a component #1140
  • static composition of Rviz in a monolithic application (can be done for now following a similar approach to main.cpp and a version of RosClientAbstraction that does not call rclcpp::init)

[roncapat]

I left the same copyright notice found in ros_topic_display.hpp but let me know if I have to change something.