docker: add Cyclone DDS middleware & tuning support #330
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Installs ros-${ROS2_DIST}-rmw-cyclonedds-cpp and sets RMW_IMPLEMENTATION=rmw_cyclonedds_cpp by default to switch from Fast DDS to Cyclone DDS -- Copies a cyclonedds.xml into the image and sets CYCLONEDDS_URI to enable tuned parameters for reliable large‑message streaming