[21137] RTPS writer APIs refactor

[MiguelCompany]

Description

This is a refactor on the RTPS writer APIs, so only the ones intended for the user (i.e. public and exported) are present.
The refactor includes adding an intermediate BaseWriter class with the internal APIs.

Related PRs:

• [21137] Account for changes on RTPS writer refactor ShapesDemo#159
• [21137] Account for changes on RTPS writer refactor Fast-DDS-python#157

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• N/A 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: [21137] Account for changes on RTPS writer refactor Fast-DDS-docs#847
• 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.
• N/A: If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[EduPonz]

CI passed for f421bf1