[22321] Benchmark example updated (backport #5460)

[mergify]

Description

I remake the benchmark example to new example style maintaining the original functionality.

@Mergifyio backport 3.1.x 3.0.x

Fixes #5398

Contributor Checklist

• Commit messages follow the project guidelines.

• The code follows the style guidelines of this project.

• 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

• N/A 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)

• 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.

• 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.

---

This is an automatic backport of pull request #5460 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of e99d6f3 has failed:

On branch mergify/bp/3.1.x/pr-5460
Your branch is up to date with 'origin/3.1.x'.

You are currently cherry-picking commit e99d6f3f.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   examples/CMakeLists.txt
	new file:   examples/cpp/benchmark/Application.cpp
	new file:   examples/cpp/benchmark/Application.hpp
	new file:   examples/cpp/benchmark/CLIParser.hpp
	new file:   examples/cpp/benchmark/CMakeLists.txt
	new file:   examples/cpp/benchmark/PublisherApp.cpp
	new file:   examples/cpp/benchmark/PublisherApp.hpp
	new file:   examples/cpp/benchmark/README.md
	new file:   examples/cpp/benchmark/SubscriberApp.cpp
	new file:   examples/cpp/benchmark/SubscriberApp.hpp
	new file:   examples/cpp/benchmark/benchmark_profile.xml
	new file:   examples/cpp/benchmark/main.cpp
	new file:   examples/cpp/benchmark/types/Benchmark.hpp
	new file:   examples/cpp/benchmark/types/Benchmark.idl
	new file:   examples/cpp/benchmark/types/BenchmarkCdrAux.hpp
	new file:   examples/cpp/benchmark/types/BenchmarkCdrAux.ipp
	new file:   examples/cpp/benchmark/types/BenchmarkPubSubTypes.cxx
	new file:   examples/cpp/benchmark/types/BenchmarkPubSubTypes.hpp
	new file:   examples/cpp/benchmark/types/BenchmarkTypeObjectSupport.cxx
	new file:   examples/cpp/benchmark/types/BenchmarkTypeObjectSupport.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_big.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_big.idl
	new file:   examples/cpp/benchmark/types/Benchmark_bigCdrAux.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_bigCdrAux.ipp
	new file:   examples/cpp/benchmark/types/Benchmark_bigPubSubTypes.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_bigPubSubTypes.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_bigTypeObjectSupport.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_bigTypeObjectSupport.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_medium.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_medium.idl
	new file:   examples/cpp/benchmark/types/Benchmark_mediumCdrAux.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_mediumCdrAux.ipp
	new file:   examples/cpp/benchmark/types/Benchmark_mediumPubSubTypes.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_mediumPubSubTypes.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_mediumTypeObjectSupport.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_mediumTypeObjectSupport.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_small.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_small.idl
	new file:   examples/cpp/benchmark/types/Benchmark_smallCdrAux.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_smallCdrAux.ipp
	new file:   examples/cpp/benchmark/types/Benchmark_smallPubSubTypes.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_smallPubSubTypes.hpp
	new file:   examples/cpp/benchmark/types/Benchmark_smallTypeObjectSupport.cxx
	new file:   examples/cpp/benchmark/types/Benchmark_smallTypeObjectSupport.hpp
	new file:   test/examples/benchmark.compose.yml
	new file:   test/examples/test_benchmark.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   versions.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally