Improve History QoS documentation and compatibility rules (#664)

* Refs #20401: Improve History documentation

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Update example to out last standard tabs format

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Update all file examples

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Add NIT to explanation

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Fix doc tab

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Apply spaces rev suggestion

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Apply documentation rev suggestions

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Apply documentation update based on internal discussion

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Remove old explanation

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Improve documentation

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

* Refs #20401: Apply NIT

Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>

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Signed-off-by: JesusPoderoso <jesuspoderoso@eprosima.com>