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feat: add descriptor namespaces (#1095)

This will add a new namespace called `descriptor` for each ROS package interface generated by `generate-ros-messages`. The new namespace is found inside the msg|srv|action namespace for each package. For example:

```typescript
namespace builtin_interfaces {
    namespace msg {
      export interface Duration {
        sec: number;
        nanosec: number;
      }
      export interface DurationConstructor {
        new(other?: Duration): Duration;
      }
      export interface Time {
        sec: number;
        nanosec: number;
      }
      export interface TimeConstructor {
        new(other?: Time): Time;
      }
      namespace descriptor {
        export interface Duration {
          sec: 'int32';
          nanosec: 'uint32';
        }
        export interface Time {
          sec: 'int32';
          nanosec: 'uint32';
        }
      }
    }
  }
``` 
The descriptor interfaces always have the format `{field: "<interface_type>"}`. For example:

```typescript
  namespace geometry_msgs {
    namespace msg {
      namespace descriptor {
        export interface PointStamped {
          header: 'std_msgs/msg/Header';
          point: 'geometry_msgs/msg/Point';
        }
      }
    } 
  }  
```

Here is the discussion: [discussions/1091](https://github.com/RobotWebTools/rclnodejs/discussions/1091)

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