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/FailureDetectorStatus.msg

@@ -0,0 +1,14 @@
+uint64 timestamp                    # time since system start (microseconds)
+
+# FailureDetector status
+bool fd_roll
+bool fd_pitch
+bool fd_alt
+bool fd_ext
+bool fd_arm_escs
+bool fd_battery
+bool fd_imbalanced_prop
+bool fd_motor
+
+float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
+uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures