Add binary data serialization support functions

[Levi-Armstrong]

@marip8, @marrts and @rjoomen These new utility function will allow us to update the ros messages to send binary data instead of xml string which is significantly smaller payload.

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 90.19%. Comparing base (660d42d) to head (1aea690).

Additional details and impacted files

[](https://app.codecov.io/gh/tesseract-robotics/tesseract/pull/1002?src=pr&el=tree&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tesseract-robotics) ```diff @@ Coverage Diff @@ ## master #1002 +/- ## ========================================== + Coverage 90.17% 90.19% +0.01% ========================================== Files 280 280 Lines 15753 15801 +48 ========================================== + Hits 14205 14251 +46 - Misses 1548 1550 +2 ``` [see 4 files with indirect coverage changes](https://app.codecov.io/gh/tesseract-robotics/tesseract/pull/1002/indirect-changes?src=pr&el=tree-more&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=tesseract-robotics)

[marrts]

I assume that also means save to files would be a lot smaller? That would be nice.

[Levi-Armstrong]

I assume that also mean save to files would be a lot smaller? That would be nice.

Yea, those utilities already exist and are significantly smaller when saving to file.