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/DebugVect.msg

@@ -0,0 +1,5 @@
+uint64 timestamp	# time since system start (microseconds)
+char[10] name           # max. 10 characters as key / name
+float32 x               # x value
+float32 y               # y value
+float32 z               # z value