Simplify micro-ROS Agent build (#378)

* Simplify agent build

* Revert this

* Update config/agent_uros_packages.repos

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>

Author: pablogs9

config/agent_uros_packages.repos

@@ -11,8 +11,3 @@ repositories:
     type: git
     url: https://github.com/micro-ROS/drive_base.git
     version: master
-  # TODO (pablogs9): Integrate Micro XRCE-DDS Agent dependency download in micro-ROS-Agent package
-  eProsima/Micro-XRCE-DDS-Agent:
-    type: git
-    url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
-    version: foxy