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)

src/modules/microdds_client/microdds_client.h

@@ -34,13 +34,13 @@
 #pragma once
 
 #include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 
-#include <src/modules/micrortps_bridge/micrortps_client/dds_topics.h>
+#include <src/modules/microdds_client/dds_topics.h>
 
-extern "C" __EXPORT int microdds_client_main(int argc, char *argv[]);
+#include <lib/timesync/Timesync.hpp>
 
-
-class MicroddsClient : public ModuleBase<MicroddsClient>
+class MicroddsClient : public ModuleBase<MicroddsClient>, public ModuleParams
 {
 public:
 	enum class Transport {
@@ -49,7 +49,7 @@ public:
 	};
 
 	MicroddsClient(Transport transport, const char *device, int baudrate, const char *host, const char *port,
-		       bool localhost_only);
+		       bool localhost_only, const char *client_namespace);
 
 	~MicroddsClient();
 
@@ -75,6 +75,7 @@ private:
 	int setBaudrate(int fd, unsigned baud);
 
 	const bool _localhost_only;
+	const char *_client_namespace;
 
 	SendTopicsSubs *_subs{nullptr};
 	RcvTopicsPubs *_pubs{nullptr};
@@ -87,5 +88,11 @@ private:
 	int _last_payload_tx_rate{}; ///< in B/s
 	int _last_payload_rx_rate{}; ///< in B/s
 	bool _connected{false};
+
+	Timesync _timesync{};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id
+	)
 };