[22604] Filter interested readers on PDP writer (backport #5604) #1769

Job	Run time
sanitizers-ci / tsan_fastdds_test	3h 37m 5s
sanitizers-ci / asan_fastdds_build	6m 42s
sanitizers-ci / asan_fastdds_test	4h 40m 22s
sanitizers-ci / asan_discovery_server_test	32m 0s
	8h 56m 9s

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