4 year old is in CPS custody

I'm not really sure what to do besides follow what the court is saying I guess... I have a daughter who just turned 4. I had her in prison so her dad automatically got full custody. When I got out of prison she had already had a life without me and I didn't want to disrupt that. I found out a month ago that she's in foster care now. Her dad is in Minnesota. I'm in Florida. What happened is her dad relapsed. He had been sober for 6 years. His brother committed suicide and he did meth again. He told me how the police busted down the door and he had 5 guns pointed at him for drugs and they found a few grams or so of meth. He got arrested. He's facing felony charges and our daughter was taken away. What's going on is because I have no relationship with her she was put into foster care and I have to go to visitations with her because their goal is to put her back with her dad. He has 5 months left to get things together. He has to get an apartment. A job and stay sober. Along with attending rehab and therapy. If he doesn't do those things things at the 6 month mark they will look into giving me sole custody. If by the one year mark he hasn't made any effort than they will start the process to terminate his rights. We've been in contact and he passed his last random drug test. He's gonna try to get those felonies dropped to misdemeanors. My mom is wanting me to fight for full custody and I really can't right now anyway because they wany her back with him as she doesn't really know me and when I talknto her all she wants is her daddy. I'm just wanting to wait until the 6th month mark to see where things are going. Im just stressed by everything and do regret not being a part of her life.

Edit: I think people are confused. I'm not making excuses. She doesn't know me which is why I wasn't given sole custody right away. I have to go to visitations with her first. They want her with her dad because the goal of foster care is reunification. He has 5 months left to get things together before they look into putting her with me.

Edit: Okay people are not understanding me. I can't get temporary custody. That was not offered to me. I have to do visitations first and establish a relationship with her. My criminal record may also have a part to play in that because I have an armed robbery charge and and 2 aggravated assault charges. She goes with me IF her dad doesn't get it together by the 6th month mark and me and her father are in contact and I know everything that's going on. He passed his last drug test and is currently going to an addicts group. Split custody wouldn't be possible as we are in completely different states. Also my mom only wants me to have full custody of her because she wants grandchildren and found out my brother had decided not to have kids. I'm not saying I'm gonna ghost her if and when her dad gets custody back. Just that things are complicated. Plus she very clearly loves and wants to be with her dad. I'm not gonna try to take that away unless it comes down to it. I don't have a lot of choices in this situation. The court has made the plan. I'm just following it. Also I've met the foster parents. They're very good to her.

Edit: I didn't know getting them during holidays and summer is still considered joint custody. I thought joint custody meant even time between both parents. If I didn't want to deal with her I wouldn't be going to visitations and trying to prepare for the possiblity she would end up with me. I don't think I'm evil for not wanting to take her from her dad unless absolutely necessary when her dad is all she knows.