Support usage of rmw_zenoh

[jpbusch]

• adds support for using rmw_zenoh
• only works for distros: rolling, iron and jazzy (restricted by zenoh)
• tested with simple talker / listener demo

[jpbusch]

We could also, for example, use the script build.sh to explicitly exclude the combinations of rmw_zenoh and an unsupported distro. At the moment, this would probably result in an error during the installation of rmw_zenoh.