[21325] Remove all code related to FAST CDR v1

[EduPonz]

Description

This is the Fast DDS Python counterpart of:

• [21325] Remove all code related to FAST CDR v1 Fast-DDS#5073

Contributor Checklist

• 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.