[23153] Improvements on RPC entities

[MiguelCompany]

Description

This PR makes requester and replier methods to return an error if they are not fully matched.
It also sets the default policies to RELIABLE, KEEP_ALL, VOLATILE.

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.
• N/A: 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: [23031] Add RPC Client/Server examples documentation Fast-DDS-docs#1064
• 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.

[Carlosespicur]

Please open a PR in Fast DDS Docs documenting the changes in send_request and take_reply methods (https://fast-dds.docs.eprosima.com/en/latest/fastdds/rpc_dds/request_reply_api/rpc_requester.html#sending-and-receiving-samples and https://fast-dds.docs.eprosima.com/en/latest/fastdds/rpc_dds/request_reply_api/rpc_replier.html#sending-and-receiving-samples), as well as the new default values in ReplierQos and RequesterQos.

Documented in:

• [23031] Add RPC Client/Server examples documentation Fast-DDS-docs#1064

[Carlosespicur]

LGTM