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Add support for RPC topics#166

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Barry-Xu-2018 wants to merge 2 commits intoeProsima:mainfrom
Barry-Xu-2018:develop/1.x/add_support_RPC_topics
Draft

Add support for RPC topics#166
Barry-Xu-2018 wants to merge 2 commits intoeProsima:mainfrom
Barry-Xu-2018:develop/1.x/add_support_RPC_topics

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@Barry-Xu-2018
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Address #140

PR #141 is based on version 0.3.0.
This PR is for porting 141 to version 1.x.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
eProsima/Fast-DDS#6016 has been merged. So the workaround
method is removed.

Signed-off-by: Barry Xu <barry.xu@sony.com>
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