Changes

Summary

1. fix: preserve ROS 2 snapshot payloads through string transport (details)

Commit 701b4ed4809e3f37946cf309cc838c0ee7a40488 by chenran fix: preserve ROS 2 snapshot payloads through string transport
	replayer/scene_data/proto_bag_scene_builder.cpp
	replayer/sdk/planframe_compat.cpp
	io/snapshot_payload.hpp
	Testing/rosbag2_roundtrip_test.cpp
	sink/ros_sink_snapshot_compact_scene.cpp
	Testing/live_web_bridge_test.cpp
	replayer/scene_data/compact_snapshot_stream_decoder.cpp
	replayer/live_bridge/pnc_live_web_bridge.cpp
	Testing/live_compact_version_test.cpp
	Testing/planframe_compat_test.cpp
	Testing/compact_snapshot_transport_test.cpp
	replayer/live_bridge/pnc_live_web_bridge.hpp
	docs/pnc_algorithm_replay/usage.md
	replayer/sdk/planframe_compat.hpp
	io/compact_snapshot_transport.hpp
	replayer/scene_data/live_compact_ingress.cpp
	CMakeLists.txt