Run micro-ros-agent on top of rmw_fastrtps_dynamic_cpp, using introspection typesupport

まだ誰も着手していません。

## Issue template

- Hardware description: Linux aarch64
- Installation type: https://github.com/mvukov/rules_ros2
- Version or commit hash: humble

I am getting segmentation fault at
https://github.com/micro-ROS/micro-ROS-Agent/blob/8fdc5060c7601a5d7d9e12254a1681e51da02d2c/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp#L33

due to the `type_support_` object being erased from memory somewhere in
https://github.com/micro-ROS/micro-ROS-Agent/blob/8fdc5060c7601a5d7d9e12254a1681e51da02d2c/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp#L31

`type_support_->typesupport_identifier` is `rosidl_typesupport_introspection_cpp` since I am using `rmw_fastrtps_dynamic_cpp` as middleware. I see that L33 in graph_typesupport.cpp compares with `rosidl_typesupport_fastrtps_cpp`, which is why I assume micro-ros-agent requires `rmw_fastrtps_cpp` as middleware. I would like to stick with `rmw_fastrtps_dynamic_cpp`.

Changing this line from `rmw_fastrtps_dynamic_cpp` to `rosidl_typesupport_introspection_cpp` causes the segmentation error to go away and the program can proceed:
https://github.com/micro-ROS/micro-ROS-Agent/blob/8fdc5060c7601a5d7d9e12254a1681e51da02d2c/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp#L32

However, then it fails at this line instead with a segmentation fault:
https://github.com/micro-ROS/micro-ROS-Agent/blob/8fdc5060c7601a5d7d9e12254a1681e51da02d2c/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp#L183

My question is, can micro-ros-agent support introspection, i.e. rmw_fastrtps_dynamic_cpp?
What are the necessary changes if not?

micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp から開始し、特に 31-33 行目と 183 行目を確認して、Humble および rmw_fastrtps_dynamic_cpp を使用する Linux aarch64 で segmentation fault を再現します。報告された typesupport 識別子を比較し、introspection がサポートされているかどうかを判断します。必要な変更を文書化するか、クラッシュなしでサポートされる middleware を確認できれば完了です。

索引モデルが issue の本文から書いたものです。