Implement method to get endpoints info

[Yadunund]

Implementing this method should allow ros2 topic info -v to return verbose results.

To test,

# terminal 1
ros2 run rmw_zenoh_cpp init_rmw_zenoh_router 

# terminal 2
ros2 run demo_nodes_cpp talker

#terminal 3
ros2 topic info /chatter -v

# expected output
Publisher count: 1

size var: 1, size in array: 1
Node name: talker
Node namespace: /
Topic type: std_msgs/msg/String
Topic type hash: INVALID
Endpoint type: PUBLISHER
GID: 00.00.00.00.00.00.00.00.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: SYSTEM_DEFAULT
  History (Depth): SYSTEM_DEFAULT
  Durability: SYSTEM_DEFAULT
  Lifespan: 0 nanoseconds
  Deadline: 0 nanoseconds
  Liveliness: SYSTEM_DEFAULT
  Liveliness lease duration: 0 nanoseconds