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/AutotuneAttitudeControlStatus.msg

@@ -0,0 +1,35 @@
+uint64 timestamp                # time since system start (microseconds)
+
+float32[5] coeff                # coefficients of the identified discrete-time model
+float32[5] coeff_var            # coefficients' variance of the identified discrete-time model
+float32 fitness                 # fitness of the parameter estimate
+float32 innov
+float32 dt_model
+
+float32 kc
+float32 ki
+float32 kd
+float32 kff
+float32 att_p
+
+float32[3] rate_sp
+
+float32 u_filt
+float32 y_filt
+
+uint8 STATE_IDLE = 0
+uint8 STATE_INIT = 1
+uint8 STATE_ROLL = 2
+uint8 STATE_ROLL_PAUSE = 3
+uint8 STATE_PITCH = 4
+uint8 STATE_PITCH_PAUSE = 5
+uint8 STATE_YAW = 6
+uint8 STATE_YAW_PAUSE = 7
+uint8 STATE_VERIFICATION = 8
+uint8 STATE_APPLY = 9
+uint8 STATE_TEST = 10
+uint8 STATE_COMPLETE = 11
+uint8 STATE_FAIL = 12
+uint8 STATE_WAIT_FOR_DISARM = 13
+
+uint8 state