feat!: add support for custom inputs and outputs

[bpapaspyros]

Description

Reference the following PRs:

• feat!: add support for generic outputs #141 -> allows generic outputs to be added and written in modulo_core
• feat: add support for generic inputs #144 -> allows generic inputs to be added and read in modulo_core
• feat: expose generic inputs and outputs to components #143 -> exposes generic inputs/outputs and publishers/subscribers to components
• feat: enable custom signal types in Python #148 -> custom signals in python

• add support for generic message types in Components and LifecycleComponents #133
• Support generic inputs and outputs for controllers #151

This PR solves the issue by providing compile-time type inference for C++ to allow for generic types to be handled properly, and similar (runtime) changes for python which mirrors the C++ version.

Review guidelines

Estimated Time of Review: 35 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[domire8]

For me, this feature is now complete and we can update issue, description and changelog and then expect final reviews

[eeberhard]

Really great work here! Looks good to me, and would be nice to have a release candidate for testing final points before committing to the 5.0.0 release. The release candidate can be made in a followup PR, in order to fast-forward these commits and keep the history clean

[domire8]

Noice