Set TopicDataType name before registering types in DomainParticipant

[Carlosespicur]

This PR solves an issue reported in eProsima/Fast-DDS-python#222.

If the user sets the type name manually using TopicDataType::set_name(type_name_A), an error happens when trying to create the topic in the Plotjuggler side Participant.

On the Publisher side, the TypeObject that is registered in the TypeObjectRegistry is built with a type name type_name_B, hardcoded in the code generated by Fast DDS Gen.

On the PlotJuggler side, the Participant reconstructs the TypeSupport from the registered TypeObject, so TypeSupport->get_name() returns type_name_B instead of type_name_A, which is received an stored internally through the on_data_writer_discovery callback implementation. Therefore, the Participant registers the type with the name type_name_B, while the topic is attempted to be created with type name type_name_A, causing an error.

There are two possible solutions to fix the problem:

1. Use DomainParticipant API to register the type with type_name_A.
2. Set TypeSupport type name to the type name discovered using TypeSupport->set_name(type_name_A) before registering the type.

This PR uses the second approach.