Add `rsl::Type` #808

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Run time

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Job	Run time
ros (humble)	1m 23s
ros (rolling)	1m 59s
cmake (humble, debug, gcc)	1m 48s
cmake (humble, debug, clang)	1m 54s
cmake (humble, release, gcc)	1m 54s
cmake (humble, release, clang)	1m 55s
cmake (humble, asan, gcc)	1m 51s
cmake (humble, asan, clang)	1m 55s
cmake (humble, codecov, gcc)	1m 57s
cmake (rolling, debug, gcc)	1m 50s
cmake (rolling, debug, clang)	1m 54s
cmake (rolling, release, gcc)	1m 55s
cmake (rolling, release, clang)	1m 54s
cmake (rolling, asan, gcc)	1m 54s
cmake (rolling, asan, clang)	1m 54s
cmake (rolling, codecov, gcc)	1m 57s
	29m 54s