Refs #22706: Warn about XTypes in Fast DDS v3

Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>

docs/rst/enhancements/fastdds3/fastdds3.rst

@@ -21,6 +21,32 @@ Most relevant features
    * Removed deprecated fastrtps-related API.
    * Further improvements can be found in `Fast DDS v3.0.0 <https://github.com/eProsima/Fast-DDS/releases/tag/v3.0.0>`__.
 
+.. warning::
+    The new feature to support XTypes might increase discovery traffic during start up.
+    If a high load during discovery is experienced, it is recommended to disable the new feature.
+    This can be accomplished with the following XML.
+    Please refer to `disable type propagation <https://fast-dds.docs.eprosima.com/en/latest/fastdds/property_policies/non_consolidated_qos.html#property-type-propagation>`__ for more information.
+
+.. code-block:: xml
+
+    <?xml version="1.0" encoding="UTF-8" ?>
+    <dds xmlns="http://www.eprosima.com">
+        <profiles>
+            <participant profile_name="no_xtypes" is_default_profile="true">
+                <rtps>
+                    <propertiesPolicy>
+                        <properties>
+                            <property>
+                                <name>fastdds.type_propagation</name>
+                                <value>disabled</value>
+                            </property>
+                        </properties>
+                    </propertiesPolicy>
+                </rtps>
+            </participant>
+        </profiles>
+    </dds>
+
 Implications
 ^^^^^^^^^^^^