Add a shared-memory message broker. #272
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This PR adds a message broker for arbitrary-sized messages. Messages are put in shared memory, either CPU or GPU shared memory, and can be distributed between processes. Messages have topics, which is a string, e.g.
boston_dm/correction_howfs/valueorboston_dm/correction_howfs/set. Topics have slashes in them (/) which separate subtopics, forming a tree of topics. We can listen for messages on any level of this tree, allowing us to listen to any messages happening on a service, or even any service on this computer.