feat(record): add raw ZED body MCAP capture

include/cvmmap_streamer/config/runtime_config.hpp

@@ -84,6 +84,7 @@ struct McapRecordConfig {
 	std::string path{"capture.mcap"};
 	std::string topic{"/camera/video"};
 	std::string depth_topic{"/camera/depth"};
+	std::string body_topic{"/camera/body"};
 	std::string frame_id{"camera"};
 	McapCompression compression{McapCompression::Zstd};
 };

include/cvmmap_streamer/record/mcap_record_sink.hpp

@@ -26,6 +26,11 @@ struct RawDepthMapView {
 	std::span<const float> pixels{};
 };
 
+struct RawBodyTrackingMessageView {
+	std::uint64_t timestamp_ns{0};
+	std::span<const std::uint8_t> bytes{};
+};
+
 class McapRecordSink {
 public:
 	McapRecordSink() = default;
@@ -51,6 +56,9 @@ public:
 	[[nodiscard]]
 	std::expected<void, std::string> write_depth_map(const RawDepthMapView &depth_map);
 
+	[[nodiscard]]
+	std::expected<void, std::string> write_body_tracking_message(const RawBodyTrackingMessageView &body_message);
+
 	[[nodiscard]]
 	bool is_open() const;