msg: introduce message versioning

msg/versioned/VehicleAttitude.msg

@@ -0,0 +1,15 @@
+# This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
+# The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp                # time since system start (microseconds)
+
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+float32[4] q                    # Quaternion rotation from the FRD body frame to the NED earth frame
+float32[4] delta_q_reset        # Amount by which quaternion has changed during last reset
+uint8 quat_reset_counter        # Quaternion reset counter
+
+# TOPICS vehicle_attitude vehicle_attitude_groundtruth external_ins_attitude
+# TOPICS estimator_attitude