Optional port names

## (Code) Example Of Cumbersome API

To improve the debugging experience of large systems, it would be helpful if ports could have an optional name, like the thread name in POSIX systems.
This would help the user to distinguish, for instance, publishers in a multi-publisher scenario.

One publisher could be named `Radar Front Left` the other `Radar Front Right`

## Improvement Suggestion

* [ ] Add optional builder parameter to the port builders to assign it a name
* The name does not need to be unique, this is the task of the unique port id.