Documentation for Zenoh configuration

[JEnoch]

The goal of this PR is to add a documentation about the way to configure Zenoh for various use cases and deployments.

So far I plan address the following sections:

• Default configuration
• Explanations of connect and listen configuration parts (will close Document restricting Zenoh sessions and router to a specific network interface #230)
• Case of a robot with multiple hosts/boards (e.g. Turtlebot3)
• Connection from/to another host (i.e. router-to-router)
• Direct connection of a remote Node (e.g. remote rviz)
• Automatic discovery and interconnections of Zenoh routers (i.e. routers scouting)
• Remote connection via a Zenoh router in the cloud
• No router, UDP multicast scouting, single host (i.e. DDS-like, single host)
• No router, UDP multicast scouting, multiple hosts (i.e. DDS-like, multi hosts)
• Downsampling
• Access Control (by network interface)

Any comment or suggestion of additional section is welcome !

[JEnoch]

Also, I'm not sure yet how to re-organize the main README.md to avoid duplicate and to point to this new doc...

[boxanm]

Hello @JEnoch ! Thanks for taking the time to give us, users, more examples of using zenoh-rmw in different scenarios. I'm particularly interested in multi-host examples (router-to-router). Do you plan to include these in the near future? I understand that you target the next ROS release for a polished zenoh-rmw version. Having these configs available earlier would definitely help earlier adopters with the testing efforts. Thanks!

[JEnoch]

Sure, will do! I haven't had time to make progress on this recently, but I will continue next week.
In the meantime, you can have a look here for explanation of router-to-router config:
https://github.com/ZettaScaleLabs/roscon2024_workshop/blob/main/exercises/ex-2.md