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/PositionControllerStatus.msg

@@ -0,0 +1,18 @@
+uint64 timestamp		# time since system start (microseconds)
+
+float32 nav_roll
+float32 nav_pitch
+float32 nav_bearing 	# set to NAN if not valid
+
+float32 target_bearing	# set to NAN if not valid
+float32 xtrack_error	# set to NAN if not valid
+
+float32 wp_dist
+
+float32 acceptance_radius		# the optimal distance to a waypoint to switch to the next
+
+float32 yaw_acceptance			# NaN if not set
+
+float32 altitude_acceptance		# the optimal vertical distance to a waypoint to switch to the next
+
+uint8 type