backend: add end-effector pose write support to TrossenMCAP

[abhichothani42]

Summary

Wires EndEffectorPoseRecord into the MCAP writer so that once the arm producer starts emitting these records (next PR), they are serialized and stored correctly. Follows the same pattern as Odometry2DRecord.

Changes

• Add end_effector_pose_topic() helper to trossen_mcap_schemas.hpp — returns <stream_id>/end_effector/pose.
• Add channel map, end_effector_pose_written stat counter, schema string member, and method declarations to TrossenMcapBackend.
• Implement ensure_end_effector_pose_channel(), write_end_effector_pose_record(), dispatch in write() and write_batch(), schema registration, and cleanup in close_resources().

Test Plan

• Builds cleanly (make build)
• Tests pass (make test)
• Lint passes (pre-commit run --all-files)
• Tested on hardware (if applicable)

Breaking Changes

None.

Related Issues

Part of the end-effector pose recording feature stack.

[abhichothani42]

Warning

This pull request is not mergeable via GitHub because a downstack PR is open. Once all requirements are satisfied, merge this PR as a stack on Graphite.
Learn more

• scripts: add Foxglove user scripts for robot and EEF visualization #277
• scripts: add URDF extraction tool for TrossenMCAP recordings #276
• examples: enable robot description recording in solo demo #275
• backend: write robot description to TrossenMCAP files #274
• config: add robot description options to TrossenMCAP backend #273
• utils: add RobotDescriptionCache for URDF download and mesh embedding #272
• examples: update sanity check for end-effector pose #270
• arm: emit end-effector pose from TrossenArmProducer #269
• backend: add end-effector pose write support to TrossenMCAP #268 👈 (View in Graphite)
• arm: add EndEffectorPoseRecord and proto schema #267
• examples: add trossen_vr_mobile demo #266
• examples: add trossen_vr_stationary demo #265
• examples: add trossen_vr_solo demo #264
• vr: add VrSessionControlComponent button-to-session bridge #263
• vr: add VrBaseComponent base-velocity teleop leader #262
• vr: add VrArmComponent cartesian teleop leader #261
• vr: add shared VrSession connection owner #260
• feat: post_event/attach_control queue for thread-safe session control #271
• session-control: add SessionControlCapable interface #259
• hw: make SlateBaseComponent a base-velocity teleop follower #258
• teleop: add base-velocity (Base) space to teleop interface #257
• main

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