RTI DDS adapter

[emgre]

Add RTI DDS bindings. This needs a runtime license in order to be executable.

• Subscribe from DDS and publish to the local message bus.
• Subscribe to local message bus and publish to DDS.
• Can publish/subscribe all profiles or only specific mRIDs (same as NATS)
• ~❗ Filtering is done manually, not by RTI DDS.~
  • ~We cannot have hierarchical topics like NATS, that's not how DDS works.~
  • ~The filtering engine of RTI DDS seems to filter on the CPU, not on the network. I don't know if DDS even supports filtering.~
  • ~Since the helper methods are already done for the protos, I simply convert the DDS to the proto then apply the filtering. It's not optimal, but it works.~
• In the CMake, you need to specify CONNEXTDDS_DIR to the RTI DDS installation folder. Everything else is done automagically.

[dwaynebradley]

@emgre DDS can filter content fairly efficiently. It can be accomplished "on the network" between the DataWriter and DataReader before data is even sent or once the data is passed to the DataReader. Look here for examples and descriptions of how to do this:

https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/api/connext_dds/api_cpp2/group__NDDSFilterExampleModule.html#details

[jadamcrain]

@emgre We'll have to rebase and regenerate the configurations to avoid these conflicts. The deterministic generation will help us avoid in the future.

[emgre]

Filtering is now done on the wire by using a ContentFilteredTopic. 🎉