[21363] Migration guide

[elianalf]

Description

This PR updates the Upgrading.md document, which aims to help during the migration process from eProsima Fast DDS version 2 to Fast DDS version 3.
It contains the changes that a user may need to apply to migrate to Fast DDS v3.0.0.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• 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 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.
• N/A; 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.

[JesusPoderoso]

Partial review (style mainly).
Pending deep review about the exposed content (check that there is nothing missing to be exposed in this guide)

Changes have been applied and reviewed