[23268] Add methods for TypeObject registration of RPC types

[MiguelCompany]

Description

This adds methods to register the TypeObject of RPC exceptions and related types.
It is necessary in order to generate TypeObject registration of generated RPC request and reply types in Fast DDS Gen.

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)
• 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).
• N/A: New feature has been documented/Current behavior is correctly described in the documentation.
• 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.
• 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]

Perhaps we should add the changes to versions.md

[MiguelCompany]

@Mergifyio backport 3.2.x

[mergify]

backport 3.2.x

✅ Backports have been created

Details

• #6056 [23268] Add methods for TypeObject registration of RPC types (backport #5889) has been created for branch 3.2.x but encountered conflicts