FAST-DDS and ROS2 RQT connect

reference:

FAST-DDS与ROS2通信_ros2 收fastdds的数据-CSDN博客

software version:

repositories:
    foonathan_memory_vendor:
        type: git
        url: https://github.com/eProsima/foonathan_memory_vendor.git
        version: v1.1.0
    fastcdr:
        type: git
        url: https://github.com/eProsima/Fast-CDR.git
        version: v1.0.22
    fastrtps:
        type: git
        url: https://github.com/eProsima/Fast-DDS.git
        version: v2.4.0
    fastddsgen:
        type: git
        url: https://github.com/eProsima/Fast-DDS-Gen.git
        version: v2.0.2
    fastddsgen/thirdparty/idl-parser:
        type: git
        url: https://github.com/eProsima/IDL-Parser.git
        version: v1.1.0

other lib :

TinyXML2    v6.0.0

OpenSSL    v1.1.1

ROS2 : foxy

host : 20.04.1-Ubuntu