Remove repeated header include & Fix log (backport #5419) #1771

Job	Run time
sanitizers-ci / asan_fastdds_build	6m 43s
sanitizers-ci / tsan_fastdds_test	3h 42m 8s
sanitizers-ci / asan_discovery_server_test	32m 26s
sanitizers-ci / asan_fastdds_test	4h 36m 56s
	8h 58m 13s

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