microRTPS: simplify the attribution of the RTPS IDs by makiing it automatic

1. The RTPS IDs are now automatically assigned to the topics
2. Only the topics that get defined to be sent or received in the urtps_bridge_topics.yaml (renamed, since now it doesn't contain IDs) receive the IDs
3. Any addition or removal on the urtps_bridge_topics.yaml file might update the topic IDs - this will require that the agent and the client ID list has to be in sync. This will further require a robustification of the way we check the IDs and the message definitions when starting the bridge.

msg/templates/urtps/Publisher.cpp.em

@@ -11,12 +11,10 @@
 @#  - ids (List) list of all RTPS msg ids
 @###############################################
 @{
-from packaging import version
 import genmsg.msgs
+from packaging import version
 import re
 
-from px_generate_uorb_topic_helper import * # this is in Tools/
-
 topic = alias if alias else spec.short_name
 
 try: