Missing data validity check

[zesk1999]

Description

This PR addresses the missing check for data validity before printing the received message. It was causing that the empty message receiving was being printed one extra time.

@Mergifyio backport 3.2.x 2.14.x

Contributor Checklist

• Commit messages follow the project guidelines.
• Code snippets related to the added documentation have been provided.
• [N/A] Documentation tests pass locally.
• The Pro version badge has been added if the documented feature is exclusive to Fast DDS Pro.
• 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.
• CI passes without warnings or errors.