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/MagnetometerBiasEstimate.msg

@@ -0,0 +1,8 @@
+uint64 timestamp                # time since system start (microseconds)
+
+float32[4] bias_x		# estimated X-bias of all the sensors
+float32[4] bias_y		# estimated Y-bias of all the sensors
+float32[4] bias_z		# estimated Z-bias of all the sensors
+
+bool[4] valid			# true if the estimator has converged
+bool[4] stable