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/VehicleRatesSetpoint.msg

@@ -0,0 +1,10 @@
+uint64 timestamp	# time since system start (microseconds)
+
+# body angular rates in NED frame
+float32 roll		# [rad/s] roll rate setpoint
+float32 pitch		# [rad/s] pitch rate setpoint
+float32 yaw		# [rad/s] yaw rate setpoint
+
+# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
+# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
+float32[3] thrust_body	# Normalized thrust command in body NED frame [-1,1]