Setup ROS 2 Easy Mode at participant creation (#1045)

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

Author: Carlosespicur

docs/fastdds/dds_layer/core/policy/eprosimaExtensions.rst

@@ -1203,6 +1203,11 @@ List of QoS Policy methods:
   it is a valid IPv4 address.
   If not, ``easy_mode_ip_`` will be set to an empty string, indicating that ROS 2 Easy Mode is disabled.
 
+.. note::
+     If the Easy Mode Discovery Server IP is configured simultaneously using
+     the :ref:`ROS2_EASY_MODE<env_vars_easy_mode>` environment variable and manually via XML or with |WireProtocolConfigQos-api|,
+     the manually configured value takes precedence, thereby ignoring the environment variable value.
+
 .. note::
      This QoS Policy applies to |DomainParticipant| entities.