[20709] Remove rtps messages headers made private

[elianalf]

Description

Remove rtps messages headers made private in related PR in Fast DDS:

• https://github.com/eProsima/Fast-DDS/pull/4657

Contributor Checklist

• [x] Commit messages follow the project guidelines.
• 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
• N/A Changes are API compatible.
• 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.
• [ ] Check CI results: changes do not issue any warning.
• [ ] Check CI results: failing tests are unrelated with the changes.