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/TrajectoryWaypoint.msg

@@ -0,0 +1,13 @@
+# Waypoint Trajectory description. See also Mavlink TRAJECTORY msg
+# The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
+
+uint64 timestamp		# time since system start (microseconds)
+
+float32[3] position
+float32[3] velocity
+float32[3] acceleration
+float32 yaw
+float32 yaw_speed
+
+bool point_valid
+uint8 type