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/TrajectoryBezier.msg

@@ -0,0 +1,8 @@
+# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
+# The topic trajectory_bezier describe each waypoint defined in vehicle_trajectory_bezier
+
+uint64 timestamp		# time since system start (microseconds)
+
+float32[3] position     # local position x,y,z (metres)
+float32 yaw             # yaw angle (rad)
+float32 delta           # time it should take to get to this waypoint, if this is the final waypoint (seconds)