[21244] Add utils script for type generation

[JesusPoderoso]

Description

This PR performs a cherry pick to the commit in master that introduced the utils type generator.
It also introduces some changes (as the possibility to add an argument to the script for CDR generation, related with some CI refactor Fast DDS Gen PRS:)

• [21226] Improve CI workflows in 3.3.x, and branching model refactor (backport #365) Fast-DDS-Gen#366
• [21226] Improve CI workflows in 3.2.x, and branching model refactor (backport #365) Fast-DDS-Gen#367
• [21226] Improve CI workflows in 2.5.x, and branching model refactor (backport #365) Fast-DDS-Gen#368
• [21226] Improve CI workflows in 2.1.x, and branching model refactor (backport #365) Fast-DDS-Gen#369

Those PRs need to be updated with the corresponding CDR version:

• Fast DDS Gen 3.3.x (Fast DDS 2.14.x) -> cdr-both
• Fast DDS Gen 3.2.x (Fast DDS 2.13.x) -> cdr-both
• Fast DDS Gen 2.5.x (Fast DDS 2.10.x) -> (no arg provided)
• Fast DDS Gen 2.1.x (Fast DDS 2.6.x) -> (no arg provided)

Contributor Checklist

• Commit messages follow the project guidelines.
• 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.