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/HomePosition.msg

@@ -0,0 +1,19 @@
+# GPS home position in WGS84 coordinates.
+
+uint64 timestamp			# time since system start (microseconds)
+
+float64 lat				# Latitude in degrees
+float64 lon				# Longitude in degrees
+float32 alt				# Altitude in meters (AMSL)
+
+float32 x				# X coordinate in meters
+float32 y				# Y coordinate in meters
+float32 z				# Z coordinate in meters
+
+float32 yaw				# Yaw angle in radians
+
+bool valid_alt		# true when the altitude has been set
+bool valid_hpos		# true when the latitude and longitude have been set
+bool valid_lpos		# true when the local position (xyz) has been set
+
+bool manual_home	# true when home position was set manually