zenoh: remove MessageFormat since Zenoh RIHS01 already provides it

RIHS01 has the same functionality and already provides type safety with
rmw_zenoh_cpp. The user on ROS2 can compare the PX4 ros2_lv hashes with
their own px4_msgs for a mismatch

src/modules/zenoh/dds_topics.yaml

@@ -29,9 +29,6 @@ publications:
   - topic: /fmu/out/manual_control_setpoint
     type: px4_msgs::msg::ManualControlSetpoint
 
-  - topic: /fmu/out/message_format_response
-    type: px4_msgs::msg::MessageFormatResponse
-
   - topic: /fmu/out/position_setpoint_triplet
     type: px4_msgs::msg::PositionSetpointTriplet
 
@@ -88,9 +85,6 @@ subscriptions:
   - topic: /fmu/in/arming_check_reply
     type: px4_msgs::msg::ArmingCheckReply
 
-  - topic: /fmu/in/message_format_request
-    type: px4_msgs::msg::MessageFormatRequest
-
   - topic: /fmu/in/mode_completed
     type: px4_msgs::msg::ModeCompleted