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/PowerMonitor.msg

@@ -0,0 +1,15 @@
+# power monitor message
+
+uint64 timestamp			# Time since system start (microseconds)
+
+float32 voltage_v			# Voltage in volts, 0 if unknown
+float32 current_a		    # Current in amperes, -1 if unknown
+float32 power_w		        # power in watts, -1 if unknown
+int16 rconf
+int16 rsv
+int16 rbv
+int16 rp
+int16 rc
+int16 rcal
+int16 me
+int16 al