[19851] Fix missing mandatory attribute check in XML parser struct type (backport #3995)

[mergify]

This is an automatic backport of pull request #3995 done by Mergify.
Cherry-pick of b10bfe6 has failed:

On branch mergify/bp/2.11.x/pr-3995
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You are currently cherry-picking commit b10bfe651.
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Changes to be committed:
	modified:   src/cpp/rtps/xmlparser/XMLDynamicParser.cpp
	new file:   test/unittest/xmlparser/regressions/19851_profile_bin.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   test/unittest/xmlparser/XMLParserTests.cpp

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

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