[16802] Branch out 2.10.x

[EduPonz]

Description

Contributor Checklist

• Commit messages follow the project guidelines.
• N/A 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.
• N/A Any new/modified methods have been properly documented using Doxygen.
• N/A Fast DDS test suite has been run locally.
• N/A Changes are ABI compatible.
• N/A Changes are API compatible.
• N/A Documentation builds and tests pass locally.
• N/A 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

• Check contributor checklist is correct.
• N/A Check CI results: changes do not issue any warning.
• N/A Check CI results: failing tests are unrelated with the changes.

[MiguelCompany]

LGTM, but should hold till the bloom release of 2.9.1 is done.