[23882] Make DomainParticipant::get_instance_handle return by value

[MiguelCompany]

Description

This solves the same as #6148 with a different approach, which breaks ABI.
It changes DomainParticipant::get_instance_handle to return by value, and constructs the InstanceHandle_t from the participant's GUID on the fly.

This is similar to what is done for DataWriter and DataReader.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• N/A: Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• Any new/modified methods have been properly documented using Doxygen.
• N/A: Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• NO: Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• Changes are API compatible.
• New feature has been added to the versions.md file (if applicable).
• 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.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.