[#195] add sliced api

[elfenpiff]

Notes for Reviewer

This PR prepares the API for the new untyped API by introducing .typed::<T>() in the pub/sub builder which returns a typed builder.

In the upcoming sliced and untyped API a similar method will be introduced called .sliced::<T>() or .untyped() that will return a sliced- or untyped-builder.

Pre-Review Checklist for the PR Author

1. Add sensible notes for the reviewer
2. PR title is short, expressive and meaningful
3. Relevant issues are linked in the References section
4. Every source code file has a copyright header with SPDX-License-Identifier: Apache-2.0 OR MIT
5. Branch follows the naming format (iox2-123-introduce-posix-ipc-example)
6. Commits messages are according to this guideline
   • Commit messages have the issue ID ([#123] Add posix ipc example)
   • Commit author matches Eclipse Contributor Agreement (and ECA is signed)
7. Tests follow the best practice for testing
8. Changelog updated in the unreleased section including API breaking changes
9. Assign PR to reviewer
10. All checks have passed (except task-list-completed)

Checklist for the PR Reviewer

• Commits are properly organized and messages are according to the guideline
• Unit tests have been written for new behavior
• Public API is documented
• PR title describes the changes

Post-review Checklist for the PR Author

1. All open points are addressed and tracked via issues

References

Relates to #195

[codecov]

Codecov Report

Attention: Patch coverage is 94.59459% with 8 lines in your changes are missing coverage. Please review.

Project coverage is 78.58%. Comparing base (1f15bc0) to head (9fdc62f).

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #203      +/-   ##
==========================================
+ Coverage   78.55%   78.58%   +0.02%     
==========================================
  Files         181      181              
  Lines       19970    19984      +14     
==========================================
+ Hits        15688    15704      +16     
+ Misses       4282     4280       -2     

Files	Coverage Δ
iceoryx2/src/config.rs	65.17% <ø> (ø)
iceoryx2/src/port/publisher.rs	81.86% <ø> (ø)
iceoryx2/src/port/subscriber.rs	85.79% <ø> (ø)
iceoryx2/src/port/update_connections.rs	0.00% <ø> (ø)
iceoryx2/src/sample.rs	70.83% <ø> (ø)
iceoryx2/src/sample_mut.rs	100.00% <ø> (ø)
...x2/src/service/dynamic_config/publish_subscribe.rs	94.44% <ø> (ø)
iceoryx2/src/service/header/publish_subscribe.rs	100.00% <ø> (ø)
iceoryx2/src/service/mod.rs	71.73% <ø> (ø)
...ryx2/src/service/port_factory/publish_subscribe.rs	89.28% <ø> (ø)
... and 6 more

... and 1 file with indirect coverage changes