diff --git a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSource.stg b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSource.stg
index 4766e621..a01f7adb 100644
--- a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSource.stg
+++ b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSource.stg
@@ -55,7 +55,9 @@ $endif$
 
 $definitions; separator="\n"$
 
+$if(ctx.thereIsStructOrUnion)$
 #include "$ctx.filename$CdrAux.ipp"
+$endif$
 >>
 
 module(ctx, parent, module, definition_list) ::= <<
diff --git a/src/main/java/com/eprosima/fastdds/fastddsgen.java b/src/main/java/com/eprosima/fastdds/fastddsgen.java
index d7fa41ad..31799010 100644
--- a/src/main/java/com/eprosima/fastdds/fastddsgen.java
+++ b/src/main/java/com/eprosima/fastdds/fastddsgen.java
@@ -842,40 +842,39 @@ private Project parseIDL(
                     }
                 }
 
-                // TODO: Uncomment following lines and create templates
                 System.out.println("Generating TopicDataTypes files...");
+                if (ctx.isThereIsStructOrUnion())
+                {
+                    if (returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "CdrAux.hpp",
+                            maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeader.stg"), m_replace))
+                    {
+                        project.addProjectIncludeFile(relative_dir + ctx.getFilename() + "CdrAux.hpp");
+                        returnedValue &=
+                                Utils.writeFile(output_dir + ctx.getFilename() + "CdrAux.ipp",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg"), m_replace);
+                    }
+                }
                 returnedValue &=
-                    Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.h",
+                        Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.h",
                             maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg"), m_replace);
                 project.addProjectIncludeFile(relative_dir + ctx.getFilename() + "PubSubTypes.h");
-
                 if (ctx.existsLastStructure())
                 {
                     m_atLeastOneStructure = true;
                     project.setHasStruct(true);
 
-                    if (returnedValue =
-                            Utils.writeFile(output_dir + ctx.getFilename() + "CdrAux.hpp",
-                            maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeader.stg"), m_replace))
+                    if (returnedValue &=
+                            Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.cxx",
+                                maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg"), m_replace))
                     {
-                        if (returnedValue =
-                                Utils.writeFile(output_dir + ctx.getFilename() + "CdrAux.ipp",
-                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg"), m_replace))
+                        project.addProjectSrcFile(relative_dir + ctx.getFilename() + "PubSubTypes.cxx");
+                        if (m_python)
                         {
-                            if (returnedValue =
-                                    Utils.writeFile(output_dir + ctx.getFilename() + "PubSubTypes.cxx",
-                                        maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg"), m_replace))
-                            {
-                                project.addProjectIncludeFile(relative_dir + ctx.getFilename() + "CdrAux.hpp");
-                                project.addProjectSrcFile(relative_dir + ctx.getFilename() + "PubSubTypes.cxx");
-                                if (m_python)
-                                {
-                                    System.out.println("Generating Swig interface files...");
-                                    returnedValue = Utils.writeFile(
-                                            output_dir + ctx.getFilename() + "PubSubTypes.i",
-                                            maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSwigInterface.stg"), m_replace);
-                                }
-                            }
+                            System.out.println("Generating Swig interface files...");
+                            returnedValue &= Utils.writeFile(
+                                    output_dir + ctx.getFilename() + "PubSubTypes.i",
+                                    maintemplates.getTemplate("com/eprosima/fastdds/idl/templates/DDSPubSubTypeSwigInterface.stg"), m_replace);
                         }
                     }
 
diff --git a/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java b/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
index cdc3eaf3..fc3ba60a 100644
--- a/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
+++ b/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
@@ -303,6 +303,20 @@ else if (content.getKind() == Kind.KIND_MAP)
         typecodes.add(new SimpleEntry<String, TypeCode>(sequence.getCppTypename(), sequence));
     }
 
+    public boolean isThereIsStructOrUnion()
+    {
+        for (TypeDeclaration type : m_types.values())
+        {
+            if (type.getTypeCode() instanceof StructTypeCode ||
+                    type.getTypeCode() instanceof UnionTypeCode)
+            {
+                return true;
+            }
+        }
+
+        return false;
+    }
+
     /*** Functions inherited from FastCDR Context ***/
 
     @Override
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg b/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg
index 67c6483f..62078d2b 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/CMakeLists.stg
@@ -43,7 +43,6 @@ target_link_libraries($project.name$ $solution.libraries : { library | $library$
         $project.name$_lib $project.dependencies : { dep | $dep$_lib}; separator=" "$)
 $endif$
 
-
 $if(test)$
 # $project.name$ Serialization Test
 add_executable($project.name$SerializationTest
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg b/src/main/java/com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg
index e6cb8f4d..335f9538 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/TypesCdrAuxHeaderImpl.stg
@@ -22,7 +22,6 @@ $fileHeader(ctx=ctx, file=[ctx.filename, "CdrAux.ipp"], description=["This sourc
 #ifndef _FAST_DDS_GENERATED_$ctx.headerGuardName$CDRAUX_IPP_
 #define _FAST_DDS_GENERATED_$ctx.headerGuardName$CDRAUX_IPP_
 
-$ctx.directIncludeDependencies : {include | #include "$include$CdrAux.hpp"}; separator="\n"$
 #include "$ctx.filename$CdrAux.hpp"
 
 $if(ctx.cdr)$