feat: use CDR at Go2 module and viewer boundaries

[TomCC7]

Go2Connection still declared legacy typed wire ports while its mapping and perception consumers now use canonical CDR. Its image/cloud/odom/TF/camera-info outputs and cmd_vel input now use generated classes; explicit boundary adapters retain the existing internal SDK value API. The basic blueprint viewer consumes these generated values too.

Linear: https://linear.app/dimensional/project/message-encoding-refactor-05a3ddb4af3e/overview

Parent: #4697. Existing internal calibration helper, odom-to-mount math, driver command API and port names are retained. Image publication owns its bytes. The cloud adapter preserves RGB, intensity, offset_time, tag, line and per-point stamps together. The existing costmap numerical renderer remains behind an explicit generated-to-value adapter; this does not retire dimos_lcm. Full simulation/DDS/controller/teleop graph closure and historical fixture conversion remain separate work, not claimed by this module boundary.

Category	Files	Additions	Deletions
Module boundary and cloud port spec	2	151	25
Basic blueprint viewer adapters	1	36	19
Module/driver/rendering tests	2	233	9
CI installed-code acceptance	1	8	1

Offline manual acceptance, from a checkout installed with its developer tests and optional Unitree dependencies:

LCM_DEFAULT_URL=memq:// python -m pytest --noconftest --import-mode=importlib -o addopts='' -q dimos/robot/unitree/go2/test_connection.py dimos/robot/unitree/test_connection.py dimos/robot/unitree/go2/blueprints/basic/test_unitree_go2_basic.py

Expected: 28 passed. Tests replace the robot SDK at its external boundary; they never connect to a robot. The actual module's declared ports pass image/cloud/odom/TF through the default factory and real LCM memq. Rerun tests inspect actual pinhole, pose values/axes, clipped map points, PGO keyframe/edge geometry and costmap mesh. No viewer launch or human acceptance is implied.

Validation: 28 source and 28 isolated installed-wheel tests passed; installed module/blueprint origins asserted in site-packages. Three production files passed strict mypy; scoped hooks passed except unavailable Nix lint. Wheel SHA256 c7c2c2a1167fff5c22d91c3d7885506b8c1799b934d1f0d124ac25a946059b04. Optional SDK import dependencies were added to task test venvs and the Linux test definition (repository-pinned SDK2.1.2 plus its import-only subset and aiortc1.14.0 in the installed environment); source environment already contained supported aiortc1.15.0. This focused import setup is not a full optional-SDK dependency/pip-check claim. CI definition installs libportaudio2 on its runner; no local host/system/network configuration was changed. No CI polling, benchmarks, physical operations or registry publication.