Feature/lyrical support

[qiangzi1024]

Summary

Add ROS 2 Lyrical source-build support for x86_64 Windows and Linux, including updated message generation, runtime fixes, and standalone packaging.

Changes

• Add a Lyrical dependency manifest and a cross-platform fetch/build driver with dependency revision tracking and build-profile validation.
• Migrate Lyrical CMake integration to exported runtime targets and use the generic C typesupport dispatcher.
• Resolve standalone native dependencies with workspace/overlay precedence, including dynamically loaded plugins and required runtime metadata.
• Fix wait-set handle lifetimes and disposal, UTF-8 string marshalling, and wide-string handling in generated message/service bindings.
• Add compile-time ABI layout checks and regression tests for build orchestration, runtime dependency resolution, string encoding, and wait-set lifetime.
• Migrate examples and tests to .NET 10 while keeping core libraries and generated assemblies on netstandard2.0.
• Document Lyrical build requirements, middleware selection, deployment, and validation boundaries.

Validation

The committed regression notes record 26 passing Windows driver/native-fixture tests, with 3 Linux-only tests skipped, plus a netstandard2.0 source-compilation smoke check.

Full ROS runtime acceptance and Unity/IL2CPP validation are separate from these checks.