Unify ROS 2 middleware

[j3soon]

This note is for potential future reference regarding any issues related to RMW.

We have several options for DDS/RTPS implementations, which can be applied by installing and configuring the ROS Middleware interface (RMW) packages. The default is Fast DDS, while many suggest using Cyclone DDS.

• Isaac ROS uses Cyclone DDS:
  https://nvidia-isaac-ros.github.io/robots/nova_carter/troubleshooting.html#ros2-topic-list-on-a-remote-system-does-not-show-all-topics-on-robot
• Isaac Sim uses Fast DDS by default but can be easily switched to Cyclone DDS:
  https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html
• MoveIt 2 recommend using Cyclone DDS:
  https://moveit.ai/install-moveit2/binary/

Currently, the codebase is using Fast DDS.

In the future, we may need to consider a design decision to switch to Cyclone DDS, as we plan to integrate Isaac ROS and MoveIt 2 soon.

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References:

• https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Middleware-Vendors.html
• https://discourse.ros.org/t/supported-dds-implementations/29180
• https://discourse.ros.org/t/nav2-issues-with-humble-binaries-due-to-fast-dds-rmw-regression/26128