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/VehicleRoi.msg

@@ -0,0 +1,21 @@
+# Vehicle Region Of Interest (ROI)
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint8 ROI_NONE = 0			# No region of interest
+uint8 ROI_WPNEXT = 1			# Point toward next MISSION with optional offset
+uint8 ROI_WPINDEX = 2			# Point toward given MISSION
+uint8 ROI_LOCATION = 3			# Point toward fixed location
+uint8 ROI_TARGET = 4			# Point toward target
+uint8 ROI_ENUM_END = 5
+
+uint8 mode          # ROI mode (see above)
+
+float64 lat			    # Latitude to point to
+float64 lon			    # Longitude to point to
+float32 alt			    # Altitude to point to
+
+# additional angle offsets to next waypoint (only used with ROI_WPNEXT)
+float32 roll_offset		# angle offset in rad
+float32 pitch_offset		# angle offset in rad
+float32 yaw_offset		# angle offset in rad