Improve rediscovery on lossy environments [15165] (backport #2838) (backport #2858)

[mergify]

This is an automatic backport of pull request #2858 done by Mergify.
Cherry-pick of 5d220ce has failed:

On branch mergify/bp/2.1.x/pr-2858
Your branch is up to date with 'origin/2.1.x'.

You are currently cherry-picking commit 5d220cec8.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/reader/WriterProxy.cpp
	both modified:   src/cpp/rtps/reader/WriterProxy.h
	both modified:   src/cpp/rtps/writer/StatefulWriter.cpp

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[MiguelCompany]

@richiware Would you mind solving the conflicts on this backport?

[richiware]

@richiprosima Please test this

[MiguelCompany]

@richiprosima Please test mac