micro-ROS: HOW to configure & know 'rmw_cyclonedds_cpp' version 0.8.x configuration

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Where can Cyclone DDS version be setup/configured and how to find what version of Cyclone DDS is installed/config ?, while trying to build in micro-ROS

The requirement below suggest 0.8.x (Réplique) version of Cyclone DDS

https://www.ros.org/reps/rep-2000.htm...

RMW DDS Middleware Providers
Cyclone DDS     0.8.x (Réplique)
Fast-DDS            2.3.x
Connext DDS     5.3.1   N/A     5.3.1   N/A
Gurum DDS   2.7.x   N/A

I am trying to setup: micro-ROS in ESP32 Microcontroller, using host ROS2 galactic in Ubuntu 20.04.5 LTS , following Step 5 of https://medium.com/@SameerT009/connec...

This is related to #q412448 . Thank you.