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Fix/raw subscription message info (#1618)

**Public API Changes**
Raw (isRaw: true) subscription callbacks that declare a second parameter now receive the documented MessageInfo argument, which was previously always undefined. This corrects runtime behavior to match the existing API and TypeScript declarations. Single-parameter callbacks are unchanged.

**Description**
Raw (isRaw: true) subscription callbacks that declare two parameters now receive MessageInfo, including timestamps, sequence numbers, and publisherGid. This lets bridges and recorders distinguish publishers sharing a topic without deserializing messages.

The change adds a native raw-take path that returns serialized bytes and metadata together, sharing metadata conversion with the existing deserialized path. One-parameter raw callbacks retain their existing behavior.
Tests cover metadata delivery, single-parameter callback compatibility, and distinguishing publishers by GID, with unconditional publishing-interval cleanup during teardown.

The new rclTakeRawWithInfo function duplicates the allocation, take, and cleanup logic in rclTakeRaw. These paths could share a helper in a follow-up. This fix leaves rclTakeRaw unchanged to keep the scope small and reduce regression risk for existing raw subscriptions. Metadata conversion is already shared with rclTakeWithInfo so both paths expose the same fields.

Fixes #1617

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