Use FastDDS as default middleware (#63)

base/Dockerfile

@@ -6,6 +6,9 @@ RUN git clone --depth 1 -b main https://github.com/micro-ROS/micro_ros_setup.git
 &&  . /opt/ros/$ROS_DISTRO/setup.sh \
 &&  apt update \
 &&  apt install -y ed python3-pip \
+&&  apt install -y ros-$ROS_DISTRO-rmw-fastrtps-cpp \
+&&  apt remove -y ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+&&  apt autoremove -y \
 &&  rosdep update --rosdistro $ROS_DISTRO\
 &&  rosdep install --from-paths src --ignore-src -y \
 &&  colcon build \
@@ -14,6 +17,8 @@ RUN git clone --depth 1 -b main https://github.com/micro-ROS/micro_ros_setup.git
 
 COPY ./micro-ros_entrypoint.sh /micro-ros_entrypoint.sh
 
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+
 RUN echo ". /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
 RUN echo ". /uros_ws/install/setup.bash" >> ~/.bashrc