How to get MicroROS thread support for Zephyr

还没有人认领这个 Issue。

## Issue template

- Hardware description: Olimex STM32-E407
- RTOS: Zephyr
- Installation type: -
- Version or commit hash: -

#### Steps to reproduce the issue
Set up MicroROS like in the Tutorial: https://micro.ros.org/docs/tutorials/core/first_application_rtos/zephyr/
Then add:
"microxrcedds_client": {
"cmake-args": [
"-DUCLIENT_PROFILE_MULTITHREAD=ON"
]
}
to the app-colcon.meta file.

#### Expected behavior
Enable multithreading.

#### Actual behavior
zephyr/microros_ws/firmware/mcu_ws/eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/multithread/multithread.h:49:20: error: field 'impl' has incomplete type
49 | struct k_mutex impl;

#### Additional information
Same as https://github.com/micro-ROS/micro_ros_setup/issues/668 but for Zephyr and not freeRTOS
Which directories do I need to include? (I guess in the arm_toolchain.cmake.in)

先从 Zephyr 教程设置开始，然后检查 eProsima/Micro-XRCE-DDS-Client/include/uxr/client/profile/multithread/multithread.h 中失败的 struct k_mutex 声明。将 Zephyr 设置与相关的 freeRTOS issue 进行比较，并检查 arm_toolchain.cmake.in，确认需要包含的目录。对于 Olimex STM32-E407 配置，multithread profile 能够成功构建即视为完成。

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