Implement (de)serialization of ROS-messages

[henrikhorluck]

Should use as generic of an interface as possible

Some leads:
-https://github.com/ros/ros_comm/blob/3f8eca4a1f13996b33c03a5c4ee3a69fb0db3668/tools/rosbag/src/rosbag/bag.py#L2875 (and with that try to look at generated code from rospy or roscpp)

• https://docs.microsoft.com/en-us/dotnet/api/system.runtime.serialization.iformatter
• https://docs.microsoft.com/en-us/dotnet/api/system.runtime.serialization.formatters.binary.binaryformatter
• https://dotnetfalcon.com/implementing-the-iformatter-interface/
• https://github.com/ros/ros_comm/blob/noetic-devel/clients/roscpp/src/libros/message_deserializer.cpp