WIP: LCM First pass

[leshy]

two dirs:

msgs/

this will eventually obsolete and replace classes in /types, contains new similar types that are LCM encodable

• adds LCM msgs package dep (dimensionalOS/python-lcm-msgs repo)
• implements Vector, Point, Quaternion and Pose

protocols/

• generic protocol design architecture
• generic pubsub, rpc protocols implemented
• concrete backend implementations for multiprocess comms implemented on LCM, Redis, and in-memory (for tests)

misc CI cleanup

• test CI workflow now checks types via mypy (if you want type checking add your dir to mypy @ pyproject.toml)
• check-changes CI worfklow fixed to properly check python and ros docker changes