Update Fast-CDR thirdparty

If this commit is applied then plotjuggler will be able to compile and
run with Fast-CDR version 2.x.x from eProsima.
It can compile from:
- local thirdparty folder included within the repo
- install of fastcdr within the machine (usually /usr/local)

to do so:
- Udpated files, API and namespace names
- Udpate configure.ac to match newly updated version

Done it because I need to use plotJuggler with latest lib from eProsima
and I would like this to be available for everyone.

Issue:
[facontidavide#919]

plotjuggler_plugins/ParserROS/rosx_introspection/3rdparty/Fast-CDR/configure.ac

@@ -19,9 +19,9 @@
 #
 # Define variables for the FastCDR version number.
 #
-m4_define([version_major],[1])
-m4_define([version_minor],[0])
-m4_define([version_micro],[24])
+m4_define([version_major],[2])
+m4_define([version_minor],[1])
+m4_define([version_micro],[3])
 
 AC_INIT([fastcdr], [version_major.version_minor.version_micro], [[email protected]], [eProsima FastCDR], [http://eprosima.com/])
 CONFIG_ARGS="$*"