API alignment

[Mallets]

Semantic and naming should be aligned across all zenoh API bindings: Rust, C, Python, and more to come.

[Mallets]

Tracking upstream roadmap issue eclipse-zenoh/roadmap#3

[JEnoch]

TODO:

• Remove queryable kind (same as Remove queryable kind zenoh#236)
• Document Session.undeclare_publication() and AsyncSession/undeclare_publication().
• Add Session.id and AsyncSession.id
• Expose in KeyExpr the scope and suffix attributes
• Make Sample.key_expr a KeyExpr instead of a str
• Add Session.key_expr_to_expr(KeyExpr) -> str
• Rewrite doc of Query's functions
• Sample : set source_info and timestamp as kwargs of constructor
• Remove SampleKind.DEFAULT