use a yaml file description instead of json; minor improvements and cleanup

msg/templates/uorb_microcdr/microRTPS_client.cpp.template

msg/templates/urtps/RtpsTopics.cpp.template

msg/templates/urtps/RtpsTopics.h.template

msg/tools/generate_microRTPS_bridge.py

msg/tools/px_generate_uorb_topic_files.py

msg/tools/px_generate_uorb_topic_helper.py

msg/tools/uorb_rtps_message_ids.json

msg/tools/uorb_rtps_message_ids.yaml

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt