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

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?

從 micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp 開始，特別查看第 31-33 行和第 183 行，並在使用 Humble 和 rmw_fastrtps_dynamic_cpp 的 Linux aarch64 上重現 segmentation fault。比較回報的 typesupport 識別碼，並判斷是否支援 introspection；完成的標準是記錄所需的變更，或確認在不發生 crash 的情況下受支援的 middleware。