Support iceoryx builtin types

[elBoberido]

Brief feature description

iceoryx builtin types like iox::cxx::string and iox::cxx::vector should be supported

Detailed information

The idea is to have something similar to this https://docs.rs/cxx/latest/cxx/#builtin-types

So there would be a CxxString, IoxString or IoxCxxString which would have the same layout as the C++ counterpart. What makes things interesting is the template argument but that should also be solvable.

We would have to be really carefully with this and need to adapt the types when the ABI of the C++ counterpart changes.

[elBoberido]

@adoerr @elfenpiff feel free to get your hands dirty :)