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/TakeoffStatus.msg

@@ -0,0 +1,14 @@
+# Status of the takeoff state machine currently just available for multicopters
+
+uint64 timestamp # time since system start (microseconds)
+
+uint8 TAKEOFF_STATE_UNINITIALIZED     = 0
+uint8 TAKEOFF_STATE_DISARMED          = 1
+uint8 TAKEOFF_STATE_SPOOLUP           = 2
+uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 3
+uint8 TAKEOFF_STATE_RAMPUP            = 4
+uint8 TAKEOFF_STATE_FLIGHT            = 5
+
+uint8 takeoff_state
+
+float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise