[23169] Add WireProtocolConfigQos to optionals serialization and make Monitor Service always serialize optionals

[Mario-DL]

Description

This PR adds the optional WireProtocolConfigQos serialization to Data(p)s based on the property fastdds.serialize_optional_qos.
It also makes monitor service to always serialize the optional qos for Data(p), Data(w) and Data(r).

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)
• NO 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: [23169] Documentation for the optional serialization of WireProtocolConfigQos Fast-DDS-docs#1068
• 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.

[Mario-DL]

Accidentally I deleted the branch so I had to reopen the PR. The review was done on #5812

[cferreiragonz]

LGTM with green CI

[Mario-DL]

The wireprotocol shall always be filled because monitor service needs it independently of the property

[cferreiragonz]

LGTM