msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge

- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)

msg/ActuatorMotors.msg

@@ -0,0 +1,12 @@
+# Motor control message
+uint64 timestamp			# time since system start (microseconds)
+uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
+
+uint16 reversible_flags     # bitset which motors are configured to be reversible
+
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+
+uint8 NUM_CONTROLS = 12
+float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
+                    # -1 maximum negative (if not supported by the output, <0 maps to NaN),
+                    # and NaN maps to disarmed (stop the motors)