Provide branch for ROS 2 Jazzy and update GIT_TAG for xrceagent

## Issue template

This is a feature request. ROS 2 Rolling and [Jazzy depend on Fast-CDR 2.2.x](https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos). [Version 2.4.3 of Micro-XRCE-DDS-Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/v2.4.3) supports this but the GIT_TAG in the SuperBuild.cmake in the `rolling` branch refers to `ros2`

#### Steps to reproduce the issue

- Create a `colcon` workspace to build this repo, and source ROS Rolling before building.

#### Expected behavior

- micro-ROS-Agent will build in a `colcon` workspace that has sourced ROS Rolling.

#### Actual behavior

- micro-ROS-Agent will not build in a `colcon` workspace that has sourced ROS Rolling.

#### Additional information

Looks like this will require code changes as well, as micro-ROS-agent will not build against the updated Fast-CDR version. For example:

```bash
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:57:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
eprosima::fastcdr::Cdr::DDS_CDR);
~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:64:54: error: no member named 'getSerializedDataLength' in 'eprosima::fastcdr::Cdr'; did you mean 'get_serialized_data_length'?
payload->length = static_cast(scdr.getSerializedDataLength());
^~~~~~~~~~~~~~~~~~~~~~~
get_serialized_data_length
/Users/rhys/Code/ros2/rolling/ros2-rolling/install/fastcdr/include/fastcdr/Cdr.h:266:23: note: 'get_serialized_data_length' declared here
Cdr_DllAPI size_t get_serialized_data_length() const;
^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:80:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
eprosima::fastcdr::Cdr::DDS_CDR);
~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:149:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
eprosima::fastcdr::Cdr::DDS_CDR);
~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:156:54: error: no member named 'getSerializedDataLength' in 'eprosima::fastcdr::Cdr'; did you mean 'get_serialized_data_length'?
payload->length = static_cast(scdr.getSerializedDataLength());
^~~~~~~~~~~~~~~~~~~~~~~
get_serialized_data_length
/Users/rhys/Code/ros2/rolling/ros2-rolling/install/fastcdr/include/fastcdr/Cdr.h:266:23: note: 'get_serialized_data_length' declared here
Cdr_DllAPI size_t get_serialized_data_length() const;
^
/Users/rhys/Code/ros2/rolling/ros2-ardupilot/src/micro_ros_agent/micro_ros_agent/src/agent/graph_manager/graph_typesupport.cpp:172:33: error: no member named 'DDS_CDR' in 'eprosima::fastcdr::Cdr'
eprosima::fastcdr::Cdr::DDS_CDR);
~~~~~~~~~~~~~~~~~~~~~~~~^
6 errors generated.
make[2]: *** [CMakeFiles/micro_ros_agent.dir/src/agent/graph_manager/graph_typesupport.cpp.o] Error 1
make[1]: *** [CMakeFiles/micro_ros_agent.dir/all] Error 2
```

This branch contains patches to fix the above issue: https://github.com/srmainwaring/micro-ROS-Agent/tree/prs/pr-rolling-fastcdr-2.2.x

Start with SuperBuild.cmake in the rolling branch and inspect the GIT_TAG for Micro-XRCE-DDS-Agent. Reproduce the colcon build after sourcing ROS Rolling, then review graph_typesupport.cpp and the patches in the referenced prs/pr-rolling-fastcdr-2.2.x branch. Done means the agent builds against Fast-CDR 2.2.x for the requested ROS 2 branch.

Written by the indexing model from the issue text.