Add schemaEncoding to mcap-play channel registration

[defunctzombie]

This conveys the schema encoding to the client allowing it to use the correct parser to handle the schema.

[jtbandes]

Adding for context that I believe this is specifically necessary for IDL messages because the cdr message encoding can be used with either ros2msg or ros2idl schema encoding. If the client does not know which one to use it is forced to assume one based on cdr and it chooses ros2msg by default.

[jtbandes]

We should also bump the examples package version and push the appropriate tag so it gets released to NPM