[fastrtps] update to 2.13.1

[duca]

Library name

fastrtps

New version number

2.13.1

Other information that may be useful (release notes, etc...)

There are a ton of improvement since 2.7.0 specially on windows, but latest release notes are:

Fast DDS v2.13.1 (https://github.com/eProsima/Fast-DDS/tree/v2.13.1)

This patch release includes the following fixes and improvements:

Revert wrong fix for TCP deadlock on channel reuse (https://github.com/eProsima/Fast-DDS/pull/4181)
Fix wrong history selection when removing PDP samples (https://github.com/eProsima/Fast-DDS/pull/4182)
Fix data race when processing incoming PDP samples on different threads (https://github.com/eProsima/Fast-DDS/pull/4188)
Fix DNS test filter in CMakeLists (https://github.com/eProsima/Fast-DDS/pull/4211)
Downgrade CMake minimum required version to 3.20 (https://github.com/eProsima/Fast-DDS/pull/4218)
Update versions.md (https://github.com/eProsima/Fast-DDS/pull/4219)
Update PR template to include check for PR description, title and backports (https://github.com/eProsima/Fast-DDS/pull/4215)
Update Fast CDR submodule to v2.1.3 (https://github.com/eProsima/Fast-DDS/pull/4226)
Regenerate Fast DDS types due to Gen release v3.2.1 (https://github.com/eProsima/Fast-DDS/pull/4229)

PRs in merged order:
eProsima/Fast-DDS#4182, eProsima/Fast-DDS#4181, eProsima/Fast-DDS#4195, eProsima/Fast-DDS#4188, eProsima/Fast-DDS#4211, eProsima/Fast-DDS#4215, eProsima/Fast-DDS#4219 , eProsima/Fast-DDS#4218, eProsima/Fast-DDS#4226, eProsima/Fast-DDS#4229

[Cheney-W]

Sloved by PR #38637