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/Event.msg

@@ -0,0 +1,10 @@
+# Events interface
+uint64 timestamp			# time since system start (microseconds)
+
+uint32 id                   # Event ID
+uint16 event_sequence       # Event sequence number
+uint8[25] arguments         # (optional) arguments, depend on event id
+
+uint8 log_levels            # Log levels: 4 bits MSB: internal, 4 bits LSB: external
+
+uint8 ORB_QUEUE_LENGTH = 16