[22814] Improve DS routines

[cferreiragonz]

Description

This PR modifies a TCP DS test configuration which was not using initial_announcements and had an infinite lease_announcements. After the changes introduced in https://github.com/eProsima/Fast-DDS/pull/5764 this results in no discovery.

This PR must be merged after:

• https://github.com/eProsima/Fast-DDS/pull/5764

Contributor Checklist

• [x] Commit messages follow the project guidelines.
• N/A The added tests pass locally.
• N/A Changes are backwards compatible.
• 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.

[cferreiragonz]

@richiprosima please test this

[Mario-DL]

Ci will be rerun after Fast DDS's related PR gets merged

[Mario-DL]

My suspiction is that due to the upload-artifacts permissions loss fast dds discovery server tool lacks of execution permissions. If thats the case, I will revert the commit and open a proper PR

[Mario-DL]

This PR shall be merged after #116