diff --git a/.github/actions/fetch-fastddsgen-repos/action.yml b/.github/actions/fetch-fastddsgen-repos/action.yml
deleted file mode 100644
index 6195e986..00000000
--- a/.github/actions/fetch-fastddsgen-repos/action.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-name: 'fetch-fastddsgen-repos'
-description: 'Fetch Fast DDS dependencies'
-
-inputs:
-  foonathan-memory-vendor-branch:
-    description: 'foonathan_memory_vendor branch to be used'
-    required: true
-  fastcdr-branch:
-    description: 'Fast-CDR branch to be used'
-    required: true
-  fastdds-branch:
-    description: 'Fast-DDS branch to be used'
-    required: true
-  fastdds-python-branch:
-    description: 'Fast-DDS-Python branch to be used'
-    required: true
-  discovery-server-branch:
-    description: 'Discovery Server branch to be used'
-    required: true
-
-runs:
-  using: "composite"
-  steps:
-    - id: fetch-fastddsgen-repos
-      run: |
-        cd src
-        git clone https://github.com/google/googletest.git --branch release-1.11.0
-        git clone https://github.com/eProsima/foonathan_memory_vendor.git --branch ${{ inputs.foonathan-memory-vendor-branch }}
-        git clone https://github.com/eProsima/Fast-CDR.git --branch ${{ inputs.fastcdr-branch }}
-        git clone https://github.com/eProsima/Fast-DDS.git --branch ${{ inputs.fastdds-branch }}
-        git clone https://github.com/eProsima/Fast-DDS-python.git --branch ${{ inputs.fastdds-python-branch }}
-        git clone https://github.com/eProsima/Discovery-Server.git --branch ${{ inputs.discovery-server-branch }}
-        cd ..
-      shell: bash
diff --git a/.github/fastddsgen.meta b/.github/workflows/config/build.meta
similarity index 100%
rename from .github/fastddsgen.meta
rename to .github/workflows/config/build.meta
diff --git a/.github/workflows/config/test.repos b/.github/workflows/config/test.repos
new file mode 100644
index 00000000..5052ee82
--- /dev/null
+++ b/.github/workflows/config/test.repos
@@ -0,0 +1,5 @@
+repositories:
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/nightly-ubuntu-ci.yml b/.github/workflows/nightly-ubuntu-ci.yml
new file mode 100644
index 00000000..f6482961
--- /dev/null
+++ b/.github/workflows/nightly-ubuntu-ci.yml
@@ -0,0 +1,91 @@
+name: Fast DDS Gen Ubuntu CI (nightly)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 1 * * *'
+
+jobs:
+  nightly-ubuntu-ci-master:
+    strategy:
+      fail-fast: false
+      matrix:
+        java-version:
+          - 'openjdk-11-jdk'
+          - 'openjdk-19-jdk'
+    uses: eProsima/Fast-DDS-Gen/.github/workflows/reusable-ubuntu-ci.yml@master
+    with:
+      os-version: 'ubuntu-22.04'
+      java-version: ${{ matrix.java-version }}
+      label: 'nightly-ubuntu-ci-master'
+      fastdds-gen-branch: 'master'
+      fastdds-branch: 'master'
+      fastcdr-branch: 'master'
+      fastdds-python-branch: 'main'
+      discovery-server-branch: 'master'
+      run-build: true
+      run-tests: true
+      use-ccache: false
+
+  nightly-ubuntu-ci-3_3_x:
+    strategy:
+      fail-fast: false
+      matrix:
+        java-version:
+          - 'openjdk-11-jdk'
+          - 'openjdk-19-jdk'
+        fastcdr-branch:
+          - '1.1.x'
+          - '2.x'
+    uses: eProsima/Fast-DDS-Gen/.github/workflows/reusable-ubuntu-ci.yml@3.3.x
+    with:
+      os-version: 'ubuntu-22.04'
+      java-version: ${{ matrix.java-version }}
+      label: 'nightly-ubuntu-ci-3.3.x'
+      fastdds-gen-branch: '3.3.x'
+      fastdds-branch: '2.14.x'
+      fastcdr-branch: ${{ matrix.fastcdr-branch }}
+      fastdds-python-branch: '1.4.x'
+      discovery-server-branch: 'v1.2.2'
+      run-build: true
+      run-tests: true
+      use-ccache: false
+
+  nightly-ubuntu-ci-3_2_x:
+    strategy:
+      fail-fast: false
+      matrix:
+        java-version:
+          - 'openjdk-11-jdk'
+          - 'openjdk-19-jdk'
+        fastcdr-branch:
+          - '1.1.x'
+          - '2.x'
+    uses: eProsima/Fast-DDS-Gen/.github/workflows/reusable-ubuntu-ci.yml@3.2.x
+    with:
+      os-version: 'ubuntu-22.04'
+      java-version: ${{ matrix.java-version }}
+      label: 'nightly-ubuntu-ci-3.2.x'
+      fastdds-gen-branch: '3.2.x'
+      fastdds-branch: '2.13.x'
+      fastcdr-branch: ${{ matrix.fastcdr-branch }}
+      fastdds-python-branch: '1.4.x'
+      discovery-server-branch: 'v1.2.2'
+      run-build: true
+      run-tests: true
+      use-ccache: false
+
+  nightly-ubuntu-ci-2_5_x:
+    uses: eProsima/Fast-DDS-Gen/.github/workflows/reusable-ubuntu-ci.yml@2.5.x
+    with:
+      os-version: 'ubuntu-22.04'
+      java-version: 'openjdk-11-jdk'
+      label: 'nightly-ubuntu-ci-2.5.x'
+      fastdds-gen-branch: '2.5.x'
+      fastdds-branch: '2.10.x'
+      fastcdr-branch: '1.0.x'
+      fastdds-python-branch: '1.2.x'
+      discovery-server-branch: 'v1.2.1'
+      run-build: true
+      run-tests: true
+      use-ccache: false
diff --git a/.github/workflows/reusable-ubuntu-ci.yaml b/.github/workflows/reusable-ubuntu-ci.yaml
deleted file mode 100644
index ff80320a..00000000
--- a/.github/workflows/reusable-ubuntu-ci.yaml
+++ /dev/null
@@ -1,131 +0,0 @@
-name: Fast DDS Gen Ubuntu CI reusable workflow
-
-on:
-  workflow_call:
-    inputs:
-      os_image:
-        description: 'The OS image for the workflow'
-        required: true
-        type: string
-      java_version:
-        description: 'The Java version to be used'
-        required: true
-        type: string
-      fastddsgen_branch:
-        description: 'Fast DDS Gen branch to be used'
-        required: true
-        type: string
-
-defaults:
-  run:
-    shell: bash
-
-jobs:
-  ubuntu-build-test:
-    runs-on: ${{ inputs.os_image }}
-    strategy:
-      fail-fast: false
-
-    steps:
-      - uses: eProsima/eProsima-CI/external/checkout@v0
-        with:
-          path: src/fastddsgen
-          ref: ${{ inputs.fastddsgen_branch }}
-
-      - name: Get minimum supported version of CMake
-        uses: eProsima/eProsima-CI/external/get-cmake@v0
-        with:
-          cmakeVersion: 3.22.6
-
-      - name: Setup CCache
-        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
-        with:
-          api_token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Install apt packages
-        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: libasio-dev libtinyxml2-dev ${{ inputs.java_version }}
-
-      - name: Configure Java to ${{ inputs.java_version }}
-        shell: bash
-        run: |
-          jv=$(echo ${{ inputs.java_version }} | sed -r 's/.*-([0-9]*)-.*/\1/g'); jvs=$(update-alternatives --list java | grep "$jv" | head -1); sudo update-alternatives --set java "$jvs"
-          jv=$(echo ${{ inputs.java_version }} | sed -r 's/.*-([0-9]*)-.*/\1/g'); jvs=$(update-alternatives --list javac | grep "$jv" | head -1); sudo update-alternatives --set javac "$jvs"
-
-      - name: Install python packages
-        uses: eProsima/eProsima-CI/multiplatform/install_colcon@v0
-
-      - name: Get Foonathan Memory Vendor branch
-        id: get_foonathan_memory_vendor_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/foonathan_memory_vendor
-          fallback_branch: master
-
-      - name: Get Fast CDR branch
-        id: get_fastcdr_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Fast-CDR
-          fallback_branch: master
-
-      - name: Get Fast DDS branch
-        id: get_fastdds_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Fast-DDS
-          fallback_branch: master
-
-      - name: Get Fast DDS Python branch
-        id: get_fastdds_python_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Fast-DDS-python
-          fallback_branch: main
-
-      - name: Get Discovery Server branch
-        id: get_discovery_server_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Discovery-Server
-          fallback_branch: master
-
-      - uses: ./src/fastddsgen/.github/actions/fetch-fastddsgen-repos
-        with:
-          foonathan-memory-vendor-branch: ${{ steps.get_foonathan_memory_vendor_branch.outputs.deduced_branch }}
-          fastcdr-branch: ${{ steps.get_fastcdr_branch.outputs.deduced_branch }}
-          fastdds-branch: ${{ steps.get_fastdds_branch.outputs.deduced_branch }}
-          fastdds-python-branch: ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }}
-          discovery-server-branch: ${{ steps.get_discovery_server_branch.outputs.deduced_branch }}
-
-      - name: Build fastddsgen
-        run: |
-          cd src/fastddsgen
-          ./gradlew assemble
-          echo "$(pwd)/scripts" >> ${{ github.path }}
-
-      - name: Regenerate IDL files for Fast DDS, Fast DDS Python, and Discovery Server
-        run: |
-          cd src/Fast-DDS
-          ./utils/scripts/update_generated_code_from_idl.sh
-          cd -
-
-          cd src/Fast-DDS-python
-          ./utils/scripts/update_generated_code_from_idl.sh
-          cd -
-
-          cd src/Discovery-Server
-          ./utils/scripts/update_generated_code_from_idl.sh
-          cd -
-
-      - name: Build workspace
-        run: |
-          cmake --version
-          colcon build --event-handlers=console_direct+ --mixin rel-with-deb-info ccache --metas src/fastddsgen/.github/fastddsgen.meta
-
-      - name: Test fastddsgen
-        run: |
-          source install/local_setup.bash
-          cd src/fastddsgen
-          ./gradlew test
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
new file mode 100644
index 00000000..123b9f83
--- /dev/null
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -0,0 +1,214 @@
+name: Fast DDS Gen Ubuntu CI reusable workflow
+
+on:
+  workflow_call:
+    inputs:
+      os-version:
+        description: 'The OS image for the workflow'
+        required: true
+        type: string
+      java-version:
+        description: 'The Java version to be used'
+        required: true
+        type: string
+      label:
+        description: 'ID associated to the workflow'
+        required: true
+        type: string
+      fastddsgen-branch:
+        description: 'Fast DDS Gen branch to be used'
+        required: true
+        type: string
+      fastdds-branch:
+        description: 'Branch or tag of Fast DDS repository'
+        required: false
+        type: string
+        default: 'master'
+      fastcdr-branch:
+        description: 'Branch or tag of Fast CDR repository'
+        required: false
+        type: string
+        default: 'master'
+      fastdds-python-branch:
+        description: 'Branch or tag of Fast DDS Python repository'
+        required: false
+        type: string
+        default: 'main'
+      discovery-server-branch:
+        description: 'Branch or tag of Discovery Server repository'
+        required: false
+        type: string
+        default: 'master'
+      run-build:
+        description: 'Build Fast DDS Gen'
+        required: false
+        type: boolean
+        default: true
+      run-tests:
+        description: 'Run test suite of Fast DDS Gen'
+        required: false
+        type: boolean
+        default: true
+      use-ccache:
+        description: 'Use CCache to speed up the build'
+        required: false
+        type: boolean
+        default: false
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  ubuntu-build-test:
+    runs-on: ${{ inputs.os-version }}
+    if: ${{ inputs.run-build == true }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Add ci-pending label if PR
+        if: ${{ github.event_name == 'pull_request' }}
+        uses: eProsima/eProsima-CI/external/add_labels@v0
+        with:
+          labels: ci-pending
+          number: ${{ github.event.number }}
+          repo: eProsima/Fast-DDS-Gen
+
+      - name: Sync eProsima/Fast-DDS-Gen repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: ${{ github.workspace }}/src/fastddsgen
+          ref: ${{ inputs.fastddsgen-branch }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: 3.22.6
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev swig ${{ inputs.java-version }}
+
+      - name: Configure Java to ${{ inputs.java-version }}
+        shell: bash
+        run: |
+          jv=$(echo ${{ inputs.java-version }} | sed -r 's/.*-([0-9]*)-.*/\1/g'); jvs=$(update-alternatives --list java | grep "$jv" | head -1); sudo update-alternatives --set java "$jvs"
+          jv=$(echo ${{ inputs.java-version }} | sed -r 's/.*-([0-9]*)-.*/\1/g'); jvs=$(update-alternatives --list javac | grep "$jv" | head -1); sudo update-alternatives --set javac "$jvs"
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/multiplatform/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2
+          upgrade: false
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+            api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get Fast DDS branch
+        id: get_fastdds_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Fast-DDS
+          fallback_branch: ${{ inputs.fastdds-branch }}
+
+      - name: Get Fast CDR branch
+        id: get_fastcdr_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Fast-CDR
+          fallback_branch: ${{ inputs.fastcdr-branch }}
+
+      - name: Get Fast DDS Python branch
+        id: get_fastdds_python_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Fast-DDS-python
+          fallback_branch: main
+
+      - name: Get Discovery Server branch
+        id: get_discovery_server_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Discovery-Server
+          fallback_branch: master
+
+      - name: Download Fast CDR, Fast DDS Python, and Discovery Server
+        run: |
+            cd src
+            git clone -b ${{ steps.get_fastcdr_branch.outputs.deduced_branch }} https://github.com/eProsima/Fast-CDR.git fastcdr
+            git clone -b ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }} https://github.com/eProsima/Fast-DDS-python.git fastdds_python
+            git clone -b ${{ steps.get_discovery_server_branch.outputs.deduced_branch }} https://github.com/eProsima/Discovery-Server.git discovery_server
+            cd ..
+        shell: bash
+
+      - name: Download Fast DDS repo
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS
+          path: ${{ github.workspace }}/src/fastdds
+          ref: ${{ steps.get_fastdds_branch.outputs.deduced_branch }}
+
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastdds/fastdds.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Build fastddsgen
+        run: |
+          cd ${{ github.workspace }}/src/fastddsgen
+          ./gradlew assemble
+          echo "$(pwd)/scripts" >> ${{ github.path }}
+
+      - name: Regenerate IDL files for Fast DDS, Fast DDS Python, and Discovery Server
+        run: |
+          cd ${{ github.workspace }}/src/fastdds
+          ./utils/scripts/update_generated_code_from_idl.sh
+          cd -
+
+          cd ${{ github.workspace }}/src/fastdds_python
+          ./utils/scripts/update_generated_code_from_idl.sh
+          cd -
+
+          cd ${{ github.workspace }}/src/discovery_server
+          ./utils/scripts/update_generated_code_from_idl.sh
+          cd -
+
+      - name: Fetch Fast DDS Gen CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        if: ${{ inputs.run-tests == true }}
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastddsgen/.github/workflows/config/test.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastddsgen/.github/workflows/config/build.meta
+          colcon_build_args_default: '--event-handlers=console_direct+'
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Test fastddsgen
+        if: ${{ inputs.run-tests == true }}
+        run: |
+          source ${{ github.workspace }}/install/local_setup.bash
+          cd ${{ github.workspace }}/src/fastddsgen
+          ./gradlew test
diff --git a/.github/workflows/ubuntu-ci.yaml b/.github/workflows/ubuntu-ci.yaml
deleted file mode 100644
index 24256456..00000000
--- a/.github/workflows/ubuntu-ci.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: Fast DDS Gen Ubuntu CI
-
-on:
-  workflow_dispatch:
-    inputs:
-      fastddsgen_branch:
-        description: 'Fast-DDS-Gen branch to be used'
-        required: true
-        type: string
-
-  pull_request:
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  ubuntu-ci:
-    strategy:
-      fail-fast: false
-      matrix:
-        os_image:
-          - 'ubuntu-22.04'
-        java_version:
-          - 'openjdk-11-jdk'
-          - 'openjdk-19-jdk'
-
-    uses: ./.github/workflows/reusable-ubuntu-ci.yaml
-    with:
-      os_image: ${{ matrix.os_image }}
-      java_version: ${{ matrix.java_version }}
-      fastddsgen_branch: ${{ inputs.fastddsgen_branch || github.ref || 'master' }}
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
new file mode 100644
index 00000000..8b440ed4
--- /dev/null
+++ b/.github/workflows/ubuntu-ci.yml
@@ -0,0 +1,77 @@
+name: Fast DDS Gen Ubuntu CI
+
+on:
+  workflow_dispatch:
+    inputs:
+      fastddsgen-branch:
+        description: 'Fast DDS Gen branch to be used'
+        required: true
+        type: string
+      fastdds-branch:
+        description: 'Branch or tag of Fast DDS repository'
+        required: false
+        type: string
+        default: 'master'
+      fastcdr-branch:
+        description: 'Branch or tag of Fast CDR repository'
+        required: false
+        type: string
+        default: 'master'
+      fastdds-python-branch:
+        description: 'Branch or tag of Fast DDS Python repository'
+        required: false
+        type: string
+        default: 'main'
+      discovery-server-branch:
+        description: 'Branch or tag of Discovery Server repository'
+        required: false
+        type: string
+        default: 'master'
+      run-tests:
+        description: 'Run test suite of Fast DDS Gen'
+        required: false
+        type: boolean
+        default: true
+      use-ccache:
+        description: 'Use CCache to speed up the build'
+        required: false
+        type: boolean
+        default: false
+
+  pull_request:
+    types:
+      - review_requested
+    paths-ignore:
+      - '**.md'
+      - '**.txt'
+      - '!**/CMakeLists.txt'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ubuntu-ci:
+    strategy:
+      fail-fast: false
+      matrix:
+        java-version:
+          - 'openjdk-11-jdk'
+          - 'openjdk-19-jdk'
+
+    if: ${{ !(github.event_name == 'pull_request') || !contains(github.event.pull_request.labels.*.name, 'conflicts') }}
+    uses: ./.github/workflows/reusable-ubuntu-ci.yml
+    with:
+      # It would be desirable to have a matrix of ubuntu OS for this job, but due to the issue opened in this ticket:
+      # https://github.com/orgs/community/discussions/128118 , it has been set as a single OS job.
+      os-version: 'ubuntu-22.04'
+      java-version: ${{ matrix.java-version }}
+      label: 'ubuntu-ci-${{ matrix.java-version }}'
+      fastddsgen-branch: ${{ inputs.fastddsgen-branch || github.ref }}
+      fastdds-branch: ${{ inputs.fastdds-branch || 'master' }}
+      fastcdr-branch: ${{ inputs.fastcdr-branch || 'master' }}
+      fastdds-python-branch: ${{ inputs.fastdds-python-branch || 'main' }}
+      discovery-server-branch: ${{ inputs.discovery-server-branch || 'master' }}
+      run-build: ${{ !(github.event_name == 'pull_request') || !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
+      run-tests: ${{ (inputs.run-tests == true) || ((github.event_name == 'pull_request') && (!contains(github.event.pull_request.labels.*.name, 'no-test'))) }}
+      use-ccache: ${{ (inputs.use-ccache == true) || false }}
diff --git a/.github/workflows/weekly-ubuntu-ci.yml b/.github/workflows/weekly-ubuntu-ci.yml
new file mode 100644
index 00000000..88552436
--- /dev/null
+++ b/.github/workflows/weekly-ubuntu-ci.yml
@@ -0,0 +1,22 @@
+name: Fast DDS Gen Ubuntu CI (weekly)
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 * * * 1' # Run at minute 0 on Monday
+
+jobs:
+  weekly-ubuntu-ci-2_1_x:
+    uses: eProsima/Fast-DDS-Gen/.github/workflows/reusable-ubuntu-ci.yml@2.1.x
+    with:
+      os-version: 'ubuntu-20.04'
+      java-version: 'openjdk-11-jdk'
+      label: 'weekly-ubuntu-ci-2.1.x'
+      fastdds-gen-branch: '2.1.x'
+      fastdds-branch: '2.6.x'
+      fastcdr-branch: '1.0.x'
+      fastdds-python-branch: '1.0.x'
+      discovery-server-branch: 'v1.2.1'
+      run-build: true
+      run-tests: true
+      use-ccache: false
diff --git a/RELEASE_SUPPORT.md b/RELEASE_SUPPORT.md
new file mode 100644
index 00000000..e6232319
--- /dev/null
+++ b/RELEASE_SUPPORT.md
@@ -0,0 +1,19 @@
+# Release support
+
+
+Please, refer to the [master branch](https://github.com/eProsima/Fast-DDS-Gen/blob/master/RELEASE_SUPPORT.md) for the latest version of this document.
+
+*eProsima Fast DDS-Gen* maintains several releases with different support cycles.
+**All of them are attached to different *eProsima Fast DDS* releases.**
+
+## *eProsima Fast DDS* and *Fast DDS-Gen* version compatibility
+
+|Fast DDS Version|Fast DDS-Gen Version|Fast DDS-Gen Version branch|Fast DDS-Gen Latest Release|
+|----------------|--------------------|---------------------------|---------------------------|
+|2.14|3.3|[3.3.x](https://github.com/eProsima/Fast-DDS-Gen/tree/3.3.x)|[v3.3.0](https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.3.0)|
+|2.13|3.2|[3.2.x](https://github.com/eProsima/Fast-DDS-Gen/tree/3.2.x)|[v3.2.1](https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v3.2.1)|
+|2.10|2.5|[2.5.x](https://github.com/eProsima/Fast-DDS-Gen/tree/2.5.x)|[v2.4.0](https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v2.4.0)|
+|2.6|2.1|[2.1.x](https://github.com/eProsima/Fast-DDS-Gen/tree/2.1.x)|[v2.1.3](https://github.com/eProsima/Fast-DDS-Gen/releases/tag/v2.1.3)|
+
+
+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).