Description

This PR fixes a couple of bugs appearing when launching Discovery Server with TCP. It uses the LocatorSelectorEntry and the new methods introduced in #4411 to know that a locator belongs to discovery server logic and must always create a new channel.

1. After the latest changes introduced to TCP with the Large Data feature, a DS client with one listening port could skip the channel creation and wait for the DS server to connect to it (which will never happen), as if it was a LARGE_DATA use case. A DS client must always create a CONNECT channel to the DS server.
2. The timer event that sends the pings to remote servers was not being restarted after updating the remote server list, what was causing a failure in the participant discovery of PDPServers.
3. It avoids the creation of unnecessary channels when updating the attributes to add new servers.

Additionally, it enables to set the logical port to zero when using DS, which will set the logical port to a value equal to the physical port. This simplifies the configuration required for using DS and is coherent with the logic implement in the CLI and the ROS_DISCOVERY_SERVER environment variable, where the logical port is always set to the same value as the physical port.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• 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
• Any new/modified methods have been properly documented using Doxygen.
• Changes are ABI compatible.
• Changes are API compatible, but it uses features of [20492] OpenOutputChannels / CloseOutputChannels that receive a LocatorSelectorEntry #4411
• 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.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.