Switch to liveliness tokens

[Yadunund]

This PR updates the discovery mechanism to rely on liveliness tokens instead of put/del/get commands which also relied on configuring the router with a storage plugin.

A neat outcome of relying on liveliness tokens is that we no longer need to pass --no-daemon to any CLI introspection tooling.

Edit: issues were resolved by 9e622d7

However during testing I observe the following issues:

1. z_check macro with zc_owned_liveliness_token: Unable to build despite macro available in zenoh_macros.h

/home/yadunund/ws_rmw/src/rmw_alternative/rmw_zenoh_cpp/src/rmw_zenoh.cpp:211:15: error: no matching function for call to ‘z_check(zc_owned_liveliness_token_t&)’
  211 |   if (!z_check(node_data->token)) {

2. Undefined symbol during runtime when executing z_drop(z_move(zc_owned_liveliness_token_t)) or z_drop(z_move(zc_owned_liveliness_subscriber_options_t))

/home/yadunund/ws_rmw/install/rmw_zenoh_cpp/lib/librmw_zenoh_cpp.so: undefined symbol: _Z6z_dropI27zc_owned_liveliness_token_tEN15zenoh_drop_typeIT_E4typeEPS2_

which demangles to

zenoh_drop_type<zc_owned_liveliness_token_t>::type z_drop<zc_owned_liveliness_token_t>(zc_owned_liveliness_token_t*)

[Yadunund]

Issues resolved by switching to zc_liveliness_XX APIs instead of z_drop and z_check macros 9e622d7