[21184] Refactor XML Parser to return DynamicTypeBuilder instead of DynamicType

[elianalf]

Description

This PR is a small refactor of the methods to get dynamic types from XML in order to return a DynamicTypeBuilder object instead of a DynamicType one. It also add a CLI flag to xtypes example to load types and profiles from an xml files.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• Any new/modified methods have been properly documented using Doxygen.
• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• ❌ Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• ❌ Changes are API compatible.
• New feature has been added to the versions.md file (if applicable).
• New feature has been documented/Current behavior is correctly described in the documentation.
  Related documentation PR: [21184] Adjust type in get_dynamic_type_builder_from_xml_by_name to return DynamicTypeBuilder Fast-DDS-docs#818 -->
• N/A Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[Mario-DL]

Good refactor ! Leaving some suggestions.

In addition, couple of considerations:

• Please, initialize type_discovered_(false) in the SubscriberApp.cpp

  Fast-DDS/examples/cpp/xtypes/SubscriberApp.cpp

  Line 58 in 9b181e5

  , stop_(false)

  since it was causing undefined behavior to me (I forgot to add this suggestion when the Xtypes example refactor was merged).
• Also, I am getting a AddressSanitizer:DEADLYSIGNAL if I start the publisher with --xml-type (compiled with ASAN), we may need to investigate it further.

[elianalf]

* Also, I am getting a `AddressSanitizer:DEADLYSIGNAL` if I start the publisher with `--xml-type` (compiled with ASAN), we may need to investigate it further.

I have tried to reproduce the error, and it appears when the xml file is not uploaded through environment variable. Can you check if that is the case?
I will expand the README to clarify that using the --xml-types option requires setting an environment variable with the path to the XML file you wish to use.

[Mario-DL]

Leaving unresolved just a couple of conversations above that I think were not included

[elianalf]

Suggestions applied!

Leaving unresolved just a couple of conversations above that I think were not included

[Mario-DL]

LGTM with green CI

[Mario-DL]

LGTM