Share a custom PayloadPool between DDS and RTPS participants

[Tempate]

In the previous version, DDS and RTPS had two different Payload Pools, and the data forwarded through the DDS Router would get copied from one to the other. In this version, making use of Fast-DDS's recently added functionality to create DataWriters and DataReaders with a custom Payload Pool, it's become possible to share the same Payload Pool between DDS and RTPS participants and avoid the copies. This version also fixes the leaks that were taking place when using DDS participants.

In the following example, we launch a DDS Router with two DDS participants, and publish a hundred 1MB messages on a reliable-volatile topic. Here's the heap memory consumption of the DDS Router before and after this update.

Before (Peak Heap Memory 6.0 MiB):

After (Peak Heap Memory 5.0 MiB):

Merge after:

• Fast-DDS 2.12.1

[Tempate]

The tests are failing because it has to be run with Fast-CDR 1.1.x & Fast-DDS in master until commit b913df0a6. Merge when Fast-DDS 2.12.1 comes out.

[juanlofer-eprosima]

LGTM

[codecov-commenter]

Codecov Report

Attention: 33 lines in your changes are missing coverage. Please review.

Comparison is base (5579d49) 36.91% compared to head (2d6d245) 36.76%.

Files	Patch %	Lines
...src/cpp/efficiency/payload/PayloadPoolMediator.cpp	17.39%	19 Missing ⚠️
...e_participants/src/cpp/types/dds/TopicDataType.cpp	0.00%	6 Missing ⚠️
...e_participants/src/cpp/reader/dds/CommonReader.cpp	25.00%	3 Missing ⚠️
...e_participants/src/cpp/writer/dds/CommonWriter.cpp	40.00%	2 Missing and 1 partial ⚠️
...ore/src/cpp/efficiency/payload/FastPayloadPool.cpp	33.33%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main      #70      +/-   ##
==========================================
- Coverage   36.91%   36.76%   -0.16%     
==========================================
  Files         115      116       +1     
  Lines        4946     4975      +29     
  Branches     1893     1905      +12     
==========================================
+ Hits         1826     1829       +3     
- Misses       2310     2332      +22     
- Partials      810      814       +4     

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