- only fuse gravity if no horizontal aiding source is enabled
- add estimator_aid_src_gravity for inspection and logging
- estimator_aid_src_gravity is always updated and published, even if not fused
- add innovation gate with conservative default (could be made configurable)
- use new EKF2_IMU_CTRL parameter to enable/disable gravity vector fusion
- 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)
