Update Dockerfile to apply memory strategy patch and adjust ROS_DISTRO handling

cross_compile/ros2/lyrical/ros_lyrical.Dockerfile

@@ -14,11 +14,16 @@ FROM ${VENDOR_PACKAGES_IMAGE} AS vendor_images
 
 FROM ${CC_PLATFORM_IMAGE} AS ros_builder
 
+ARG ROS_DISTRO
 WORKDIR /workspace
 COPY --from=ros_src /workspace /workspace
+COPY ros2/${ROS_DISTRO}/patch /workspace/patch
 COPY --from=vendor_images ${TARGET_SYSROOT} ${TARGET_SYSROOT}
 COPY ros2/ros_cpp /workspace/src/ros_cpp
 
+# apply patch
+RUN patch -p1 -d /workspace/src/ros2/rclcpp < /workspace/patch/memory_strategy.patch
+
 RUN touch src/ros2/geometry2/tf2_bullet/COLCON_IGNORE \
     && touch src/ros2/rosbag2/rosbag2_storage_sqlite3/COLCON_IGNORE \
     && touch src/ros-perception/image_transport_plugins/theora_image_transport/COLCON_IGNORE
@@ -65,7 +70,7 @@ RUN . "$HOME/.cargo/env"  \
 
 RUN mkdir rmw_zenoh_ws/src -p  \
     && cd rmw_zenoh_ws/src \
-    && git clone --depth=1 -b rolling https://github.com/ros2/rmw_zenoh.git
+    && git clone --depth=1 -b lyrical https://github.com/ros2/rmw_zenoh.git
 
 ENV CARGO_TARGET_AARCH64_UNKNOWN_LINUX_GNU_LINKER=aarch64-none-linux-gnu-gcc