[23325] Use generic server interfaces in generated code

[MiguelCompany]

Description

This PR leverages the changes in eProsima/Fast-DDS#5873 so the generated server code is cleaner.

Depends on:

• [23325] Add generic interfaces for RPC servers Fast-DDS#5873
• [23325] Add generic interfaces for RPC servers Fast-DDS-python#241

Contributor Checklist

• Commit messages follow the project guidelines.
• 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
• New feature has been documented/Current behavior is correctly described in the documentation.
  • Related documentation PR: [23325] Add generic interfaces for RPC servers Fast-DDS-docs#1088
• 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.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.