fix: normalize ROS timestamps to prevent Rerun time overflow - This e…

[Bmoradi93]

fix: normalize ROS timestamps to prevent Rerun 32-bit time overflow

• Add timestamp normalization to handle large ROS timestamps
• Initialize time offset on first message received
• Update all logging functions to use normalized timestamps
• Fix const-correctness with mutable timestamp variables
• Resolves "Time is out of dual 32-bit range" error

This ensures compatibility with ROS bags containing timestamps from any time period by normalizing relative to the first message.