Dev/1.0.0/migration fixes

[Charles-Schleich]

Use ZBytes over ZBuf,
Added error handling for Parsing Ros2 messages.

[Charles-Schleich]

I see a bunch of places where we can avoid unwraps and expects but a small refactor, its generally better to work towards having as few unwraps as possible, Code changes over time, assumptions and checks can change. its generally more robust to handle invariants, as opposed to having expects and unwraps. Rust generally does try support not adding too much verbosity in handling invariants.

    if sample.len() < 20 {
        tracing::warn!("{route_id}: received invalid request: {sample:0x?}");
        return;
    }

    let z_bytes: ZBytes = sample.into();
    let slice = Cow::from(z_bytes);
    let dds_req_buf = slice.as_ref();

    let is_little_endian =
        is_cdr_little_endian(dds_req_buf).expect("Shouldn't happen: sample.len >= 20");

[evshary]

Hi @Charles-Schleich I agee with your thoughts. We should reduce the unwrap() and expect() as much as we can. There are several unwrap() and expect() in the code, and worth some refactors.
Also, I prefer to add some tests (which do not exist now) to avoid breaking the behaviors while doing refactors.
Anyway, I believe this can be done in the following PR. I'm fine with the changes except some minor issues.

[evshary]

LGTM

[evshary]

@milyin Could you please help us trigger the CI and see how it goes?

[evshary]

@Charles-Schleich I guess CI failed while enabling dds_shm.