microRTPS: send the system ID with the RTPS packet header and remove the need for extra id fields in uORB

This allows that all messages (not only timesync messages) that get received on the same system that sent them do not get parsed. As the microRTPS agent is built currently, this will only happen right now if someone sets the same UDP port to send and receive data, or by manually changing the agent topics (which were always autogenerated).

msg/templates/urtps/RtpsTopics.cpp.em

@@ -117,11 +117,11 @@ void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
 		eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
 		eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
 		st.deserialize(cdr_des);
+
 @[    if topic == 'Timesync' or topic == 'timesync']@
 		_timesync->processTimesyncMsg(&st, &_@(topic)_pub);
-
-		if (getMsgSysID(&st) == 1) {
 @[    end if]@
+
 		// apply timestamp offset
 		uint64_t timestamp = getMsgTimestamp(&st);
 		uint64_t timestamp_sample = getMsgTimestampSample(&st);
@@ -129,11 +129,8 @@ void RtpsTopics::publish(const uint8_t topic_ID, char data_buffer[], size_t len)
 		setMsgTimestamp(&st, timestamp);
 		_timesync->subtractOffset(timestamp_sample);
 		setMsgTimestampSample(&st, timestamp_sample);
-		_@(topic)_pub.publish(&st);
-@[    if topic == 'Timesync' or topic == 'timesync']@
-		}
 
-@[    end if]@
+		_@(topic)_pub.publish(&st);
 	}
 	break;
 @[end for]@
@@ -157,10 +154,7 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
 	case @(rtps_message_id(ids, topic)): // @(topic)
 		if (_@(topic)_sub.hasMsg()) {
 			@(topic)_msg_t msg = _@(topic)_sub.getMsg();
-@[    if topic == 'Timesync' or topic == 'timesync']@
 
-			if (getMsgSysID(&msg) == 0) {
-@[    end if]@
 			// apply timestamps offset
 			uint64_t timestamp = getMsgTimestamp(&msg);
 			uint64_t timestamp_sample = getMsgTimestampSample(&msg);
@@ -168,12 +162,10 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
 			setMsgTimestamp(&msg, timestamp);
 			_timesync->addOffset(timestamp_sample);
 			setMsgTimestampSample(&msg, timestamp_sample);
+
 			msg.serialize(scdr);
 			ret = true;
-@[    if topic == 'Timesync' or topic == 'timesync']@
-			}
 
-@[    end if]@
 			_@(topic)_sub.unlockMsg();
 		}