Agent TCP4 not responding to RMW stream or packet

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## Issue template

- Hardware description:
Agent running on Ubuntu 22.04 x86)64
Firmware on Raspberry PI Pico W
- RTOS: FreeRTOS
- Installation type: micro_ros_setup
- Version or commit hash: Humble

#### Steps to reproduce the issue
Agent running in TCP4 mode:
$ ros2 run micro_ros_agent micro_ros_agent tcp4 -p 8000

Firmware is using LWIP Sockets under Freertos as a custom transport rmw (rmw_uros_set_custom_transport). Tested both stream and packet communication modes.

#### Expected behavior
Would expect some acknowledge package or activity from the Agent.

#### Actual behavior
Agent is listening on port 8000. It accepts the connection. Data is sent from the firmware to the Agent but no response from the agent.

#### Additional information

I've not managed to find any blogs or code examples using tcp4 comms on the Agent. Can I confirm that this does talk rmw and whether this should be stream or packet mode?

Comece com o comando micro_ros_agent tcp4 -p 8000 e com a configuração de rmw_uros_set_custom_transport do firmware usando sockets LWIP no FreeRTOS. Compare a comunicação por stream e por pacotes e verifique se o Agent responde aos dados do firmware; documente o modo necessário ou reproduza uma correção confirmada.

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