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/TuneControl.msg

@@ -0,0 +1,39 @@
+# This message is used to control the tunes, when the tune_id is set to CUSTOM
+# then the frequency, duration are used otherwise those values are ignored.
+
+uint64 timestamp     # time since system start (microseconds)
+
+uint8 TUNE_ID_STOP                 = 0
+uint8 TUNE_ID_STARTUP              = 1
+uint8 TUNE_ID_ERROR                = 2
+uint8 TUNE_ID_NOTIFY_POSITIVE      = 3
+uint8 TUNE_ID_NOTIFY_NEUTRAL       = 4
+uint8 TUNE_ID_NOTIFY_NEGATIVE      = 5
+uint8 TUNE_ID_ARMING_WARNING       = 6
+uint8 TUNE_ID_BATTERY_WARNING_SLOW = 7
+uint8 TUNE_ID_BATTERY_WARNING_FAST = 8
+uint8 TUNE_ID_GPS_WARNING          = 9
+uint8 TUNE_ID_ARMING_FAILURE       = 10
+uint8 TUNE_ID_PARACHUTE_RELEASE    = 11
+uint8 TUNE_ID_SINGLE_BEEP          = 12
+uint8 TUNE_ID_HOME_SET             = 13
+uint8 TUNE_ID_SD_INIT              = 14
+uint8 TUNE_ID_SD_ERROR             = 15
+uint8 TUNE_ID_PROG_PX4IO           = 16
+uint8 TUNE_ID_PROG_PX4IO_OK        = 17
+uint8 TUNE_ID_PROG_PX4IO_ERR       = 18
+uint8 TUNE_ID_POWER_OFF            = 19
+uint8 NUMBER_OF_TUNES              = 20
+
+uint8 tune_id        # tune_id corresponding to TuneID::* from the tune_defaults.h in the tunes library
+bool tune_override   # if true the tune which is playing will be stopped and the new started
+uint16 frequency     # in Hz
+uint32 duration      # in us
+uint32 silence       # in us
+uint8 volume         # value between 0-100 if supported by backend
+
+uint8 VOLUME_LEVEL_MIN = 0
+uint8 VOLUME_LEVEL_DEFAULT = 20
+uint8 VOLUME_LEVEL_MAX = 100
+
+uint8 ORB_QUEUE_LENGTH = 4