Amongst other fixes the interface between RTPS-HC/DDS was changed.
The Liveliness Update metatraffic operation was also made QOS dependant
and put behind synthesis guards.
Instance Removal trigger was modified. While before at least 1 instance
slot needed to be empty at all times (similar to the sample slot), thsi
was changed to only remove instances on demand. This is controlled via
a signal that holds the current number of stale (removalble) instances.
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