[21128] Adjust for Fast DDS public headers migration to .hpp

[JesusPoderoso]

Description

This PR is the counterpart of the following Fast DDS pull request in this repository:

• #[21128] Make all public headers .hpp Fast-DDS#4958

Contributor Checklist

• [x Commit messages follow the project guidelines.
• 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
• ❌ Changes are API compatible.
• 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.

[EduPonz]

LGTM with green CI