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/SensorsStatus.msg

@@ -0,0 +1,15 @@
+#
+# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
+#
+uint64 timestamp # time since system start (microseconds)
+
+uint32 device_id_primary       # current primary device id for reference
+
+uint32[4] device_ids
+float32[4] inconsistency       # magnitude of difference between sensor instance and mean
+bool[4] healthy                # sensor healthy
+uint8[4] priority
+bool[4] enabled
+bool[4] external
+
+# TOPICS sensors_status_baro sensors_status_mag