[20086] Methods to configure transport scenarios (backport #4098)

[mergify]

This is an automatic backport of pull request #4098 done by Mergify.
Cherry-pick of 8cbd461 has failed:

On branch mergify/bp/2.10.x/pr-4098
Your branch is up to date with 'origin/2.10.x'.

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  (fix conflicts and run "git cherry-pick --continue")
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Changes to be committed:
	new file:   include/fastdds/rtps/attributes/BuiltinTransports.hpp
	modified:   include/fastrtps/xmlparser/XMLParserCommon.h
	modified:   src/cpp/CMakeLists.txt
	modified:   src/cpp/fastdds/domain/qos/DomainParticipantQos.cpp
	new file:   src/cpp/rtps/attributes/RTPSParticipantAttributes.cpp
	modified:   src/cpp/rtps/xmlparser/XMLParser.cpp
	modified:   src/cpp/rtps/xmlparser/XMLParserCommon.cpp
	new file:   src/cpp/utils/string_utilities.hpp
	modified:   test/blackbox/CMakeLists.txt
	modified:   test/blackbox/api/dds-pim/PubSubReader.hpp
	modified:   test/blackbox/api/dds-pim/PubSubWriter.hpp
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubWriter.hpp
	new file:   test/blackbox/builtin_transports_profile.xml
	modified:   test/blackbox/common/BlackboxTestsTransportCustom.cpp
	new file:   test/mock/rtps/RTPSParticipantAttributes/fastdds/rtps/attributes/RTPSParticipantAttributes.h
	modified:   test/unittest/dds/participant/CMakeLists.txt
	modified:   test/unittest/dds/participant/ParticipantTests.cpp
	modified:   test/unittest/dds/publisher/CMakeLists.txt
	modified:   test/unittest/dds/status/CMakeLists.txt
	modified:   test/unittest/xmlparser/XMLElementParserTests.cpp
	modified:   test/unittest/xmlparser/wrapper/XMLParserTest.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   include/fastdds/dds/domain/qos/DomainParticipantQos.hpp
	both modified:   include/fastdds/rtps/attributes/RTPSParticipantAttributes.h
	both modified:   include/fastrtps/xmlparser/XMLParser.h
	both modified:   resources/xsd/fastRTPS_profiles.xsd
	both modified:   src/cpp/rtps/participant/RTPSParticipantImpl.cpp
	both modified:   src/cpp/rtps/xmlparser/XMLElementParser.cpp
	both modified:   test/unittest/dynamic_types/CMakeLists.txt
	both modified:   test/unittest/statistics/dds/CMakeLists.txt
	both modified:   test/unittest/xmlparser/CMakeLists.txt
	both modified:   versions.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[elianalf]

@richiprosima please test this

[EduPonz]

CI failures are related to #4194, that PR will fix them