Add RTPS format support to Kaitai #689
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This PR adds RTPS format to Kaitai.
Actual RTPS format is complete, but enclosed format like CDR, XCDR, XCDR2 is not currently supported and leaved as plain binary data.
Current implementation follows RTPS-DDS v2.5, and can work with RTPS v2.0+. It is tested against CycloneDDS implementation and RTI DDS (with RTI_CRC sub message deactivated).