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/EstimatorAidSource1d.msg

@@ -0,0 +1,24 @@
+uint64 timestamp             # time since system start (microseconds)
+uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
+
+uint8 estimator_instance
+
+uint32 device_id
+
+uint64 time_last_fuse
+
+float32 observation
+float32 observation_variance
+
+float32 innovation
+float32 innovation_variance
+float32 test_ratio
+
+bool fusion_enabled          # true when measurements are being fused
+bool innovation_rejected     # true if the observation has been rejected
+bool fused                   # true if the sample was successfully fused
+
+# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
+# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
+# TOPICS estimator_aid_src_fake_hgt
+# TOPICS estimator_aid_src_mag_heading estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw