feat: make HRIConnector and ARIConnector classes generic

[rachwalk]

Purpose

Currently when creating a connector derived from HRI/ARIConnector additional type checking is required e.g.:

def send_message(self, message: ARIMessage. target: str):
    if not is instance(message, ROS2ARIMessage):
         raise ValueError("Message must be of type ROS2ARIMessage")
    ....

This could get tedious for SDK users, a call signature like:

def send_message(self, message: ROS2ARIMessage. target: str):

would be preferable.

Proposed Changes

This PR makes HRI/ARIConnector classes generic, allowing for specifying message type on creation of a derived connector like so (example):

class ROS2ARIConnector[ROS2ARIMessage](ARIConnector):

which will cause all method signatures to automatically use ROS2ARIMessage as the type hint.

Issues

• Links to relevant issues

Testing

Tests pertaining to sound device connector check this functionality adequately.