Refs #21286: Add RELEASE_SUPPORT.md

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

RELEASE_SUPPORT.md

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+# Release support
+
+
+Please, refer to the [main branch](https://github.com/eProsima/Fast-CDR/blob/master/RELEASE_SUPPORT.md) for the latest version of this document.
+
+*eProsima Fast CDR* maintains several releases with different support cycles.
+**All of them are attached to different *eProsima Fast DDS* releases.**
+
+## *eProsima Fast DDS* and *Fast CDR* version compatibility
+
+|Fast DDS Version|Fast DDS Python Version|Fast DDS Python Version branch|Fast DDS Python Latest Release|
+|----------------|-----------------------|------------------------------|------------------------------|
+|2.14|2.2|[2.2.x](https://github.com/eProsima/Fast-CDR/tree/2.2.x)|[v2.2.2](https://github.com/eProsima/Fast-CDR/releases/tag/v2.2.2)|
+|2.13|2.1|[2.1.x](https://github.com/eProsima/Fast-CDR/tree/2.1.x)|[v2.1.3](https://github.com/eProsima/Fast-CDR/releases/tag/v2.1.3)|
+|2.10|1.0|[1.0.x](https://github.com/eProsima/Fast-CDR/tree/1.0.x)|[v1.0.28](https://github.com/eProsima/Fast-CDR/releases/tag/v1.0.28)|
+|2.6|1.0|[1.0.x](https://github.com/eProsima/Fast-CDR/tree/1.0.x)|[v1.0.28](https://github.com/eProsima/Fast-CDR/releases/tag/v1.0.28)|
+
+
+For detailed information about the lifecycle of the different *Fast DDS* versions (and their corresponding counterpart in this repository), please refer to the [release support section of the Fast DDS repository](https://github.com/eProsima/Fast-DDS/blob/master/RELEASE_SUPPORT.md).