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A better version of the reader.

I know it probably have flows. And about the formatting.

It is a draft for your feedback (or maybe you can take it from there)

==> This is a required feature to be able to extract data from mcap file without to make a local copy of mcap+fastcdr+plotjuggler topics
==> usefull for tests

@damien-robotsix
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DataTamer had a reader but intrometry doesn't for now

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