Difficulties Updating FastDDS from 2.6.9 to 3.1.x?

anybody already update fastdds(from 2.6.9 to 3.1.x) on humble?
recently i do this job, but it is so difficult.

We have a vendor we work with that only offers Fast DDS 2.14, and even going from 2.6 to 2.14 was hard…