[20439] Expose Authentication Handshake Properties (backport #4435)

[mergify]

This is an automatic backport of pull request #4435 done by Mergify.
Cherry-pick of da58d84 has failed:

On branch mergify/bp/2.10.x/pr-4435
Your branch is up to date with 'origin/2.10.x'.

You are currently cherry-picking commit da58d84ae.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   include/fastdds/rtps/attributes/PropertyPolicy.h
	modified:   include/fastdds/rtps/common/Property.h
	modified:   src/cpp/rtps/attributes/PropertyPolicy.cpp
	modified:   src/cpp/rtps/security/SecurityManager.cpp
	modified:   test/blackbox/CMakeLists.txt
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubWriter.hpp
	new file:   test/blackbox/auth_handshake_props_profile.xml
	modified:   test/blackbox/common/BlackboxTestsSecurity.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/security/SecurityManager.h
	both modified:   versions.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[mergify]

Cherry-pick of da58d84 has failed:

On branch mergify/bp/2.10.x/pr-4435
Your branch is up to date with 'origin/2.10.x'.

You are currently cherry-picking commit da58d84ae.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   include/fastdds/rtps/attributes/PropertyPolicy.h
	modified:   include/fastdds/rtps/common/Property.h
	modified:   src/cpp/rtps/attributes/PropertyPolicy.cpp
	modified:   src/cpp/rtps/security/SecurityManager.cpp
	modified:   test/blackbox/CMakeLists.txt
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
	modified:   test/blackbox/api/fastrtps_deprecated/PubSubWriter.hpp
	new file:   test/blackbox/auth_handshake_props_profile.xml
	modified:   test/blackbox/common/BlackboxTestsSecurity.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/security/SecurityManager.h
	both modified:   versions.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[MiguelCompany]

@Mario-DL Would you mind looking at the conflicts here?

[MiguelCompany]

@richiprosima Please test this