[3.6.0] Refactored MessageParsers, MCAP support and Snaps

This is an exciting release that features a massive refactoring of the MessageParse base plugin.

This change was necessary to exploit the flexibility of MCAP, a new supported file format that is protocol agnostic.

A new parser able to decode both ROS1 and ROS2 messages has been introduced. Currently it works only with MCAP.
This parser uses the library rosx_introspection.