Export socketcan C++ wrapper

Description

• This MR exports a simple C++ wrapper around a CAN_RAW socketcan interface
• Most unit tests are disabled because we can't arbitrarily set up a virtual can interface on CI (or can we?)
• For more details, see the issue which will be linked below.

Notes for Reviewer

To test:

1. Start ade with elevated permissions: $ ade start --enter -- --privileged --cap-add=ALL -v /lib/modules:/lib/modules --net=host
2. Set up the virtual can interface: ade$ sh AutowareAuto/src/drivers/socketcan/test/vcan0_setup.sh
3. Build: ade$ cd AutowareAuto && colcon build
4. Source the installation: ade$ source install/setup.bash
5. Run unit including disabled tests: ade$ ./build/socketcan/socketcan_test --gtest_also_run_disabled_tests

Checklist

• Documentation was updated

Closes #223 (closed)