[24364 & 24365] Add UBSan workflow and solve its errors

[cferreiragonz]

Description

This PR adds a new workflow to Fast DDS: UBSan.

• It adds a new valid value for -DSANITIZER=Undefined, which sets -fsanitize=undefined -fno-omit-frame-pointer -fsanitize=float-cast-overflow -fsanitize=float-divide-by-zero -fsanitize=bounds-strict
• It fixes build of Tests with the new UBSan flags and solves one ODR warning
• It adds a new regression test which must fail as it guarantees an UB error.
• It fixes every UB error of the whole Fast DDS Suite. Most of the errors where test-related, although some minor fixes also applied to the library itself.

Merge after

• [24046] Update security tests to use governance-based encryption configuration #6277

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• 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: 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)
• N/A: Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• N/A: Changes are API compatible.
• 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

• 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.

[cferreiragonz]

I am expecting the ubsan_fastdds_test step to fail due to failing tests. They will be solved in the following commits once it has been verified that the workflow properly fails when it should

[richiware]

Suggested change

	- "-DNO_TLS=OFF"
	- "-DSECURITY=ON"
	- "-DFASTDDS_STATISTICS=ON"
	- "-DSANITIZER=Undefined"
	- "-DCMAKE_CXX_FLAGS_INIT='-Werror'"
	- "-DEPROSIMA_BUILD_TESTS=ON"
	- "-DRTPS_API_TESTS=ON"
	- "-DFASTDDS_PIM_API_TESTS=ON"
	- "-DPERFORMANCE_TESTS=ON"
	googletest-distribution:
	cmake-args:
	- "-Dgtest_force_shared_crt=ON"
	- "-DBUILD_SHARED_LIBS=ON"
	- "-DBUILD_GMOCK=ON"
	- -DNO_TLS=OFF
	- -DSECURITY=ON
	- -DFASTDDS_STATISTICS=ON
	- -DSANITIZER=Undefined
	- -DCOMPILE_WARNING_AS_ERROR=ON
	- -DEPROSIMA_BUILD_TESTS=ON
	- -DRTPS_API_TESTS=ON
	- -DFASTDDS_PIM_API_TESTS=ON
	- -DPERFORMANCE_TESTS=ON
	googletest-distribution:
	cmake-args:
	- -Dgtest_force_shared_crt=ON
	- -DBUILD_SHARED_LIBS=ON
	- -DBUILD_GMOCK=ON