[19432] Add CONTRIBUTING to repository

CONTRIBUTING

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+# Contribution Guidelines
+
+The following documents constitutes a set of guidelines to which contributors must adhere.
+
+* [Contributions Licensing](#contributions-licensing)
+* [Developer Certificate of Origin](#developer-certificate-of-origin)
+* [Issues and Support](#issues-and-support)
+
+## Contributions Licensing
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0.html):
+
+~~~
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+~~~
+
+## Developer Certificate of Origin
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+
+## Issues and Support
+
+*eProsima Fast DDS* developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project.
+Firs of all, there are several products related with Fast DDS.
+Please, open the issue in the corresponding repository:
+
+- [Fast DDS](https://github.com/eProsima/Fast-DDS)
+- [Fast DDS documentation](https://github.com/eProsima/Fast-DDS-docs/issues/new)
+- [Fast DDS-Gen](https://github.com/eProsima/Fast-DDS-Gen/issues/new)
+- [Fast DDS Python](https://github.com/eProsima/Fast-DDS-python)
+- [Foonathan memory vendor](https://github.com/eProsima/foonathan_memory_vendor/issues/new)
+- [Fast CDR](https://github.com/eProsima/Fast-CDR/issues/new)
+- [Shapes Demo](https://github.com/eProsima/ShapesDemo/issues/new)
+- [ROS 2 Fast DDS RMW](https://github.com/ros2/rmw_fastrtps/issues/new)
+- [Fast DDS Statistics Backend](https://github.com/eProsima/Fast-DDS-statistics-backend/issues/new)
+- [Fast DDS Monitor](https://github.com/eProsima/Fast-DDS-monitor/issues/new)
+- [DDS Router](https://github.com/eProsima/DDS-Router/issues/new)
+
+Also, this project classifies user issues in the following categories.
+Please, help us giving you a better support by opening your issue in the corresponding category.
+
+### Issues
+
+Issues are understood as bug reports and may be opened by anyone [here](https://github.com/eProsima/Fast-DDS-python/issues/new).
+Consequently, this section handles malfunctions in the current documented behavior of the library.
+If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the [Support](#support) discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
+
+### Feature request
+
+Feature requests and improvements suggestions should be opened in the Ideas [discussion forum](https://github.com/eProsima/Fast-DDS/discussions/new).
+Please, remember to select the corresponding category while opening the discussion.
+It is also encouraged to contact directly with [eProsima support team](https://github.com/eProsima/Fast-DDS#getting-help) for a feature evaluation.
+
+### Q&A
+
+Questions about *eProsima Fast DDS* behavior and features should be opened in the Q&A (Questions & Answers) [discussion forum](https://github.com/eProsima/Fast-DDS-python/discussions/new?category=ideas).
+Please, remember to select the correct category while opening the discussion.
+It is strongly advised to first consult [eProsima Fast DDS Python API reference](https://fast-dds.docs.eprosima.com/en/latest/fastdds/python_api_reference/python_api_reference.html) and previous Q&A in the forum.
+
+### Support
+
+Most user issues would fall in this category.
+*eProsima Fast DDS* provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task.
+These issues should be opened in the Support [discussion forum](https://github.com/eProsima/Fast-DDS-python/discussions/new?category=support).
+Please, remember to select the corresponding category while opening the discussion.
+Please, take into account that *eProsima Fast DDS* provides official support for the Tier 1 platforms, architectures and compilers defined [here](https://github.com/eProsima/Fast-DDS/blob/master/PLATFORM_SUPPORT.md).
+Any other support should be opened in the next section: [Unofficial support](#unofficial-support)
+
+### Unofficial support
+
+Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support [discussion forum](https://github.com/eProsima/Fast-DDS-python/discussions/new?category=unofficial-support).
+Please, remember to select the corresponding category while opening the discussion.
+If official support is wanted for any platform, architecture and/or compiler, please contact directly with [eProsima support team](https://github.com/eProsima/Fast-DDS#getting-help) for an evaluation.