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/MagWorkerData.msg

@@ -0,0 +1,13 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint8 MAX_MAGS = 4
+
+uint32 done_count
+uint32 calibration_points_perside
+uint64 calibration_interval_perside_us
+uint32[4] calibration_counter_total
+bool[4] side_data_collected
+float32[4] x
+float32[4] y
+float32[4] z