diff --git a/code/CodeTester.cpp b/code/CodeTester.cpp
index ca60dd998..d1a0037bb 100644
--- a/code/CodeTester.cpp
+++ b/code/CodeTester.cpp
@@ -12,15 +12,12 @@
 #include <fastrtps/log/Log.h>
 #include <fastrtps/log/FileConsumer.h>
 #include <fastrtps/TopicDataType.h>
-#include <fastrtps/types/DynamicDataFactory.h>
-#include <fastrtps/types/DynamicTypeBuilderFactory.h>
-#include <fastrtps/types/DynamicTypeBuilderPtr.h>
+#include <fastdds/utils/IPLocator.h>
 
 
 using namespace eprosima::fastrtps;
 using namespace ::rtps;
 using namespace ::security;
-using namespace ::types;
 
 class HelloWorld
 {
@@ -294,720 +291,6 @@ void rtps_api_example_conf()
     //!--
 }
 
-void xml_dyn_examples_check()
-{
-    //XML-DYN-ENUM
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr enum_builder =
-            DynamicTypeBuilderFactory::get_instance()->create_enum_builder();
-    enum_builder->set_name("MyEnum");
-    enum_builder->add_empty_member(0, "A");
-    enum_builder->add_empty_member(1, "B");
-    enum_builder->add_empty_member(2, "C");
-    DynamicType_ptr enum_type = DynamicTypeBuilderFactory::get_instance()->create_type(enum_builder.get());
-    //!--
-    //XML-TYPEDEF
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr alias1_builder =
-            DynamicTypeBuilderFactory::get_instance()->create_alias_builder(
-        enum_builder.get(), "MyAlias1");
-    DynamicType_ptr alias1_type = DynamicTypeBuilderFactory::get_instance()->create_type(alias1_builder.get());
-
-    std::vector<uint32_t> sequence_lengths = { 2, 2 };
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr int_builder =
-            DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr array_builder =
-            DynamicTypeBuilderFactory::get_instance()->create_array_builder(
-        int_builder.get(), sequence_lengths);
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr alias2_builder =
-            DynamicTypeBuilderFactory::get_instance()->create_alias_builder(
-        array_builder.get(), "MyAlias2");
-    DynamicType_ptr alias2_type = DynamicTypeBuilderFactory::get_instance()->create_type(alias2_builder.get());
-    //!--
-    {
-        //XML-STRUCT
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int64_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-
-        struct_builder->set_name("MyStruct");
-        struct_builder->add_member(0, "first", long_builder.get());
-        struct_builder->add_member(1, "second", long_long_builder.get());
-        DynamicType_ptr struct_type = DynamicTypeBuilderFactory::get_instance()->create_type(struct_builder.get());
-        //!--
-    }
-    {
-        //XML-STRUCT-INHERIT
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int64_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-
-        struct_builder->set_name("ParentStruct");
-        struct_builder->add_member(0, "first", long_builder.get());
-        struct_builder->add_member(1, "second", long_long_builder.get());
-        DynamicType_ptr struct_type = DynamicTypeBuilderFactory::get_instance()->create_type(struct_builder.get());
-
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr child_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_child_struct_builder(struct_builder.get());
-
-        child_builder->set_name("ChildStruct");
-        child_builder->add_member(0, "third", long_builder.get());
-        child_builder->add_member(1, "fourth", long_long_builder.get());
-        DynamicType_ptr child_struct_type = DynamicTypeBuilderFactory::get_instance()->create_type(child_builder.get());
-        //!--
-    }
-    {
-        //XML-UNION
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int64_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr octet_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_byte_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr union_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_union_builder(
-            octet_builder.get());
-
-        union_builder->set_name("MyUnion");
-        union_builder->add_member(0, "first", long_builder.get(), "", { 0, 1 }, false);
-        union_builder->add_member(1, "second", struct_builder.get(), "", { 2 }, false);
-        union_builder->add_member(2, "third", long_long_builder.get(), "", { }, true);
-        DynamicType_ptr union_type = DynamicTypeBuilderFactory::get_instance()->create_type(union_builder.get());
-        //!--
-    }
-    {
-        //XML-GENERIC
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int64_builder();
-        long_long_builder->set_name("my_long");
-        DynamicType_ptr long_long_type =
-                DynamicTypeBuilderFactory::get_instance()->create_type(long_long_builder.get());
-        //!--
-    }
-    {
-        //XML-BOUNDEDSTRINGS
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr string_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_string_builder(41925);
-        string_builder->set_name("my_large_string");
-        DynamicType_ptr string_type = DynamicTypeBuilderFactory::get_instance()->create_type(string_builder.get());
-
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr wstring_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_wstring_builder(20925);
-        wstring_builder->set_name("my_large_wstring");
-        DynamicType_ptr wstring_type = DynamicTypeBuilderFactory::get_instance()->create_type(wstring_builder.get());
-        //!--
-    }
-    {
-        //XML-ARRAYS
-        std::vector<uint32_t> lengths = { 2, 3, 4 };
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr array_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_array_builder(
-            long_builder.get(), lengths);
-        array_builder->set_name("long_array");
-        DynamicType_ptr array_type = DynamicTypeBuilderFactory::get_instance()->create_type(array_builder.get());
-        //!--
-    }
-    {
-        //XML-SEQUENCES
-        uint32_t child_len = 2;
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr seq_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(
-            long_builder.get(),
-            child_len);
-        uint32_t length = 3;
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr seq_seq_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(
-            seq_builder.get(), length);
-        seq_seq_builder->set_name("my_sequence_sequence");
-        DynamicType_ptr seq_type = DynamicTypeBuilderFactory::get_instance()->create_type(seq_seq_builder.get());
-        //!--
-    }
-    {
-        //XML-MAPS
-        uint32_t length = 2;
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr long_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr map_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_map_builder(
-            long_builder.get(),
-            long_builder.get(), length);
-
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr map_map_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_map_builder(
-            long_builder.get(),
-            map_builder.get(), length);
-        map_map_builder->set_name("my_map_map");
-        DynamicType_ptr map_type = DynamicTypeBuilderFactory::get_instance()->create_type(map_map_builder.get());
-        //!--
-    }
-    {
-        //XML-BITSET
-        DynamicTypeBuilderFactory* m_factory = DynamicTypeBuilderFactory::get_instance();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder_ptr = m_factory->create_bitset_builder();
-        builder_ptr->add_member(0, "a", m_factory->create_byte_builder()->build());
-        builder_ptr->add_member(1, "b", m_factory->create_bool_builder()->build());
-        builder_ptr->add_member(3, "c", m_factory->create_uint16_builder()->build());
-        builder_ptr->add_member(4, "d", m_factory->create_int16_builder()->build());
-        builder_ptr->apply_annotation_to_member(0, ANNOTATION_BIT_BOUND_ID, "value", "3");
-        builder_ptr->apply_annotation_to_member(0, ANNOTATION_POSITION_ID, "value", "0");
-        builder_ptr->apply_annotation_to_member(1, ANNOTATION_BIT_BOUND_ID, "value", "1");
-        builder_ptr->apply_annotation_to_member(1, ANNOTATION_POSITION_ID, "value", "3");
-        builder_ptr->apply_annotation_to_member(3, ANNOTATION_BIT_BOUND_ID, "value", "10");
-        builder_ptr->apply_annotation_to_member(3, ANNOTATION_POSITION_ID, "value", "8"); // 4 empty
-        builder_ptr->apply_annotation_to_member(4, ANNOTATION_BIT_BOUND_ID, "value", "12");
-        builder_ptr->apply_annotation_to_member(4, ANNOTATION_POSITION_ID, "value", "18");
-        builder_ptr->set_name("MyBitSet");
-        //!--
-    }
-    {
-        //XML-BITMASK
-        DynamicTypeBuilderFactory* m_factory = DynamicTypeBuilderFactory::get_instance();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder_ptr = m_factory->create_bitmask_builder(8);
-        builder_ptr->add_empty_member(0, "flag0");
-        builder_ptr->add_empty_member(1, "flag1");
-        builder_ptr->add_empty_member(2, "flag2");
-        builder_ptr->add_empty_member(5, "flag5");
-        builder_ptr->set_name("MyBitMask");
-        //!--
-    }
-    {
-        //XML-BITSET-INHERIT
-        DynamicTypeBuilderFactory* m_factory = DynamicTypeBuilderFactory::get_instance();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder_ptr = m_factory->create_bitset_builder();
-        builder_ptr->add_member(0, "a", m_factory->create_byte_builder()->build());
-        builder_ptr->add_member(1, "b", m_factory->create_bool_builder()->build());
-        builder_ptr->apply_annotation_to_member(0, ANNOTATION_BIT_BOUND_ID, "value", "3");
-        builder_ptr->apply_annotation_to_member(0, ANNOTATION_POSITION_ID, "value", "0");
-        builder_ptr->apply_annotation_to_member(1, ANNOTATION_BIT_BOUND_ID, "value", "1");
-        builder_ptr->apply_annotation_to_member(1, ANNOTATION_POSITION_ID, "value", "3");
-        builder_ptr->set_name("ParentBitSet");
-
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr child_ptr = m_factory->create_child_struct_builder(
-            builder_ptr.get());
-        child_ptr->add_member(3, "c", m_factory->create_uint16_builder()->build());
-        child_ptr->add_member(4, "d", m_factory->create_int16_builder()->build());
-        child_ptr->apply_annotation_to_member(3, ANNOTATION_BIT_BOUND_ID, "value", "10");
-        child_ptr->apply_annotation_to_member(3, ANNOTATION_POSITION_ID, "value", "8"); // 4 empty
-        child_ptr->apply_annotation_to_member(4, ANNOTATION_BIT_BOUND_ID, "value", "12");
-        child_ptr->apply_annotation_to_member(4, ANNOTATION_POSITION_ID, "value", "18");
-        child_ptr->set_name("ChildBitSet");
-        //!--
-    }
-}
-
-void dynamictypes_configuration()
-{
-    {
-        //DYNAMIC_TYPES_QUICK_EXAMPLE
-        // Create a builder for a specific type
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_enum_builder();
-
-        // Use the builder to configure the type
-        builder->add_empty_member(0, "DEFAULT");
-        builder->add_empty_member(1, "FIRST");
-        builder->add_empty_member(2, "SECOND");
-
-        // Create the data type using the builder
-        // The builder will internally use the DynamicTypeBuilderFactory to create the type
-        DynamicType_ptr type = builder->build();
-
-        // Create a new data instance of the create data type
-        DynamicData_ptr data (DynamicDataFactory::get_instance()->create_data(type));
-
-        // Now we can set or read data values
-        data->set_int32_value(1);
-
-        // No need of deleting the objects, since we used the
-        // automanaged smart pointers
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_PRIMITIVES
-        // Using Builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr created_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_int32_builder();
-        DynamicType_ptr created_type = DynamicTypeBuilderFactory::get_instance()->create_type(created_builder.get());
-        DynamicData* data = DynamicDataFactory::get_instance()->create_data(created_type);
-        data->set_int32_value(1);
-
-        // Creating directly the Dynamic Type
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        DynamicData* data2 = DynamicDataFactory::get_instance()->create_data(pType);
-        data2->set_int32_value(1);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_STRINGS
-        // Using Builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr created_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_string_builder(100);
-        DynamicType_ptr created_type = DynamicTypeBuilderFactory::get_instance()->create_type(created_builder.get());
-        DynamicData* data = DynamicDataFactory::get_instance()->create_data(created_type);
-        data->set_string_value("Dynamic String");
-
-        // Creating directly the Dynamic Type
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_string_type(100);
-        DynamicData* data2 = DynamicDataFactory::get_instance()->create_data(pType);
-        data2->set_string_value("Dynamic String");
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_ALIAS
-        // Create the base type
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr base_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_string_builder(100);
-        DynamicType_ptr base_type = DynamicTypeBuilderFactory::get_instance()->create_type(base_builder.get());
-
-        // Create alias using Builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_alias_builder(base_type,
-                        "alias");
-        DynamicData* data = DynamicDataFactory::get_instance()->create_data(builder.get());
-        data->set_string_value("Dynamic Alias String");
-
-        // Create alias type directly
-        DynamicType_ptr pAliasType = DynamicTypeBuilderFactory::get_instance()->create_alias_type(base_type, "alias");
-        DynamicData* data2 = DynamicDataFactory::get_instance()->create_data(pAliasType);
-        data2->set_string_value("Dynamic Alias String");
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_ENUMERATIONS
-        // Add enumeration values using the DynamicTypeBuilder
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_enum_builder();
-        builder->add_empty_member(0, "DEFAULT");
-        builder->add_empty_member(1, "FIRST");
-        builder->add_empty_member(2, "SECOND");
-
-        // Create the data instance
-        DynamicData* data = DynamicDataFactory::get_instance()->create_data(builder.get());
-
-        // Access value using the name
-        std::string sValue = "SECOND";
-        data->set_enum_value(sValue);
-        std::string sStoredValue;
-        data->get_enum_value(sStoredValue, MEMBER_ID_INVALID);
-
-        // Access value using the index
-        uint32_t uValue = 2;
-        data->set_enum_value(uValue);
-        uint32_t uStoredValue;
-        data->get_enum_value(uStoredValue, MEMBER_ID_INVALID);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_BITSETS
-        // Create bitfields with the appropriate type for their size
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr base_type_byte_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_byte_builder();
-        auto base_type_byte = base_type_byte_builder->build();
-
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr base_type_uint32_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_uint32_builder();
-        auto base_type_uint32 = base_type_uint32_builder->build();
-
-        // Create the bitset with two bitfields
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_bitset_builder();
-        builder->add_member(0, "byte", base_type_byte);
-        builder->add_member(1, "uint32", base_type_uint32);
-
-        // Apply members' annotations
-        builder->apply_annotation_to_member(0, ANNOTATION_POSITION_ID, "value", "0");   // "byte" starts at position 0
-        builder->apply_annotation_to_member(0, ANNOTATION_BIT_BOUND_ID, "value", "2");  // "byte" is 2 bit length
-        builder->apply_annotation_to_member(1, ANNOTATION_POSITION_ID, "value", "10");  // "uint32" starts at position 10 (8 bits empty)
-        builder->apply_annotation_to_member(1, ANNOTATION_BIT_BOUND_ID, "value", "20"); // "uint32" is 20 bits length
-
-        // Create the data instance
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(builder.get()));
-
-        // Access values
-        data->set_byte_value(234, 0);
-        data->set_uint32_value(2340, 1);
-        octet bValue;
-        uint32_t uValue;
-        data->get_byte_value(bValue, 0);
-        data->get_uint32_value(uValue, 1);
-        //!--
-        //DYNAMIC_TYPES_CREATE_BITSETS-INHERIT
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr child_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_child_struct_builder(builder.get());
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_BITMASKS
-        uint32_t limit = 5; // Stores as "octet"
-
-        // Add bitmask flags using the DynamicTypeBuilder
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_bitmask_builder(limit);
-        builder->add_empty_member(0, "FIRST");
-        builder->add_empty_member(1, "SECOND");
-
-        // Create the data instance
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(builder.get()));
-
-        // Access the mask values using the name
-        data->set_bool_value(true, "FIRST");                // Set the "FIRST" bit
-        bool bSecondValue = data->get_bool_value("SECOND"); // Get the "SECOND" bit
-
-        // Access the mask values using the index
-        data->set_bool_value(true, 1);                      // Set the "SECOND" bit
-        bool bFirstValue = data->get_bool_value(0);         // Get the "FIRST" bit
-
-        // Get the complete bitmask as integer
-        uint64_t fullValue;
-        data->get_bitmask_value(fullValue);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_STRUCTS
-        // Build a structure with two fields ("first" as int32, "other" as uint64) using DynamicTypeBuilder
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type());
-        builder->add_member(1, "other", DynamicTypeBuilderFactory::get_instance()->create_uint64_type());
-        DynamicType_ptr struct_type(builder->build());
-
-        // Create the data instance
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(struct_type));
-
-        // Access struct members
-        data->set_int32_value(5, 0);
-        data->set_uint64_value(13, 1);
-        //!--
-        //DYNAMIC_TYPES_CREATE_STRUCTS-INHERIT
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr child_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_child_struct_builder(builder.get());
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_UNIONS
-        // Create the union DynamicTypeBuilder with an int32 discriminator
-        DynamicType_ptr discriminator = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_union_builder(discriminator);
-
-        // Add the union members. "firts" will be the default value
-        builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type(), "", { 0 },
-                true);
-        builder->add_member(0, "second", DynamicTypeBuilderFactory::get_instance()->create_int64_type(), "", { 1 },
-                false);
-
-        // Create the data instance
-        DynamicType_ptr union_type = builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(union_type));
-
-        // Access the values using the member index
-        data->set_int32_value(9, 0);
-        data->set_int64_value(13, 1);
-
-        // Get the label of the currently selected member
-        uint64_t unionLabel;
-        data->get_union_label(unionLabel);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_SEQUENCES
-        // Create a DynamicTypeBuilder for a sequence of two elements of type inte32
-        uint32_t length = 2;
-        DynamicType_ptr base_type = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_sequence_builder(base_type, length);
-
-        // Create the data instance
-        DynamicType_ptr sequence_type = builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(sequence_type));
-
-        // Insert and remove elements
-        MemberId newId, newId2;
-        data->insert_int32_value(10, newId);
-        data->insert_int32_value(12, newId2);
-        data->remove_sequence_data(newId);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_ARRAYS
-        // Create an array DynamicTypeBuilder for a 2x2 elements of type int32
-        std::vector<uint32_t> lengths = { 2, 2 };
-        DynamicType_ptr base_type = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_array_builder(base_type, lengths);
-
-        // Create the data instance
-        DynamicType_ptr array_type = builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(array_type));
-
-        // Access elements in the multidimensional array
-        MemberId pos = data->get_array_index({1, 0});
-        data->set_int32_value(11, pos);
-        data->set_int32_value(27, pos + 1);
-        data->clear_array_data(pos);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_MAPS
-        // Create DynamicTypeBuilder for a map of two pairs of {key:int32, value:int32}
-        uint32_t length = 2;
-        DynamicType_ptr base = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_map_builder(base, base, length);
-
-        // Create the data instance
-        DynamicType_ptr map_type = builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(map_type));
-
-        // Add a new element to the map with key 1
-        DynamicData_ptr key(DynamicDataFactory::get_instance()->create_data(base));
-        MemberId keyId;
-        MemberId valueId;
-        key->set_int32_value(1);
-        data->insert_map_data(key.get(), keyId, valueId);
-
-        // Add a new element to the map with key 2
-        // insert_map_data creates a copy of the key, so the same instance can be reused
-        MemberId keyId2;
-        MemberId valueId2;
-        key->set_int32_value(2);
-        data->insert_map_data(key.get(), keyId2, valueId2);
-
-        // Set the value to the element with key 2, using the returned value Id
-        data->set_int32_value(53, valueId2);
-
-        // Remove elements from the map
-        data->remove_map_data(keyId);
-        data->remove_map_data(keyId2);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_NESTED_STRUCTS
-        // Create a struct type
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type());
-        builder->add_member(1, "other", DynamicTypeBuilderFactory::get_instance()->create_uint64_type());
-        DynamicType_ptr struct_type = builder->build();
-
-        // Create a struct type with the previous struct as member
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr parent_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        parent_builder->add_member(0, "child_struct", struct_type);
-        parent_builder->add_member(1, "second", DynamicTypeBuilderFactory::get_instance()->create_int32_type());
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(parent_builder.get()));
-
-        // Access the child struct with the loan operations
-        DynamicData* child_data = data->loan_value(0);
-        child_data->set_int32_value(5, 0);
-        child_data->set_uint64_value(13, 1);
-        data->return_loaned_value(child_data);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_INHERITANCE_STRUCTS
-        // Create a base struct type
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type());
-        builder->add_member(1, "other", DynamicTypeBuilderFactory::get_instance()->create_uint64_type());
-
-        // Create a struct type derived from the previous struct
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr child_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_child_struct_builder(builder.get());
-
-        // Add new members to the derived type
-        builder->add_member(2, "third", DynamicTypeBuilderFactory::get_instance()->create_uint64_type());
-
-        // Create the data instance
-        DynamicType_ptr struct_type = child_builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(struct_type));
-
-        // The derived type includes the members defined on the base type
-        data->set_int32_value(5, 0);
-        data->set_uint64_value(13, 1);
-        data->set_uint64_value(47, 2);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_NESTED_ALIAS
-        // Using Builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr created_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_string_builder(100);
-        DynamicType_ptr created_type = DynamicTypeBuilderFactory::get_instance()->create_type(created_builder.get());
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_alias_builder(
-            created_builder.get(), "alias");
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder2 =
-                DynamicTypeBuilderFactory::get_instance()->create_alias_builder(
-            builder.get(), "alias2");
-        DynamicData* data(DynamicDataFactory::get_instance()->create_data(builder2->build()));
-        data->set_string_value("Dynamic Alias 2 String");
-
-        // Creating directly the Dynamic Type
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_string_type(100);
-        DynamicType_ptr pAliasType = DynamicTypeBuilderFactory::get_instance()->create_alias_type(pType, "alias");
-        DynamicType_ptr pAliasType2 =
-                DynamicTypeBuilderFactory::get_instance()->create_alias_type(pAliasType, "alias2");
-        DynamicData* data2(DynamicDataFactory::get_instance()->create_data(pAliasType));
-        data2->set_string_value("Dynamic Alias 2 String");
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_NESTED_UNIONS
-        // Create a union DynamicTypeBuilder
-        DynamicType_ptr discriminator = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_union_builder(discriminator);
-
-        // Add a int32 to the union
-        builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type(), "", { 0 },
-                true);
-
-        // Create a struct type and add it to the union
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        struct_builder->add_member(0, "first", DynamicTypeBuilderFactory::get_instance()->create_int32_type());
-        struct_builder->add_member(1, "other", DynamicTypeBuilderFactory::get_instance()->create_uint64_type());
-        builder->add_member(1, "first", struct_builder.get(), "", { 1 }, false);
-
-        // Create the union data instance
-        DynamicType_ptr union_type = builder->build();
-        DynamicData_ptr data(DynamicDataFactory::get_instance()->create_data(union_type));
-
-        // Access the struct member using the loan operations
-        DynamicData* child_data = data->loan_value(1);
-        child_data->set_int32_value(9, 0);
-        child_data->set_int64_value(13, 1);
-        data->return_loaned_value(child_data);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_CREATE_ANNOTATION
-        // Apply the annotation
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr builder =
-                DynamicTypeBuilderFactory::get_instance()->create_struct_builder();
-        //...
-        builder->apply_annotation("MyAnnotation", "value", "5");
-        builder->apply_annotation("MyAnnotation", "name", "length");
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_SERIALIZATION
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        DynamicPubSubType pubsubType(pType);
-
-        // SERIALIZATION EXAMPLE
-        DynamicData* pData = DynamicDataFactory::get_instance()->create_data(pType);
-        uint32_t payloadSize = static_cast<uint32_t>(pubsubType.getSerializedSizeProvider(pData)());
-        SerializedPayload_t payload(payloadSize);
-        pubsubType.serialize(pData, &payload);
-
-        // DESERIALIZATION EXAMPLE
-        types::DynamicData* data2 = DynamicDataFactory::get_instance()->create_data(pType);
-        pubsubType.deserialize(&payload, data2);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_NOTES_1
-        DynamicTypeBuilder* pBuilder = DynamicTypeBuilderFactory::get_instance()->create_uint32_builder();
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        DynamicData* pData = DynamicDataFactory::get_instance()->create_data(pType);
-
-        DynamicTypeBuilderFactory::get_instance()->delete_builder(pBuilder);
-        DynamicDataFactory::get_instance()->delete_data(pData);
-        //!--
-    }
-
-    {
-        //DYNAMIC_TYPES_NOTES_2
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr pBuilder =
-                DynamicTypeBuilderFactory::get_instance()->create_uint32_builder();
-        DynamicType_ptr pType = DynamicTypeBuilderFactory::get_instance()->create_int32_type();
-        DynamicData_ptr pData(DynamicDataFactory::get_instance()->create_data(pType));
-        //!--
-    }
-
-    {
-        //DYNAMIC_HELLO_WORLD_API
-        // In HelloWorldPublisher.h
-        // Dynamic Types
-        eprosima::fastrtps::types::DynamicData* m_DynHello;
-        eprosima::fastrtps::types::DynamicPubSubType m_DynType;
-
-        // In HelloWorldPublisher.cpp
-        // Create basic builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_type_builder(DynamicTypeBuilderFactory::get_instance()
-                        ->create_struct_builder());
-
-        // Add members to the struct.
-        struct_type_builder->add_member(0, "index", DynamicTypeBuilderFactory::get_instance()->create_uint32_type());
-        struct_type_builder->add_member(1, "message", DynamicTypeBuilderFactory::get_instance()->create_string_type());
-        struct_type_builder->set_name("HelloWorld");
-
-        DynamicType_ptr dynType = struct_type_builder->build();
-        m_DynType.SetDynamicType(dynType);
-        m_DynHello = DynamicDataFactory::get_instance()->create_data(dynType);
-        m_DynHello->set_uint32_value(0, 0);
-        m_DynHello->set_string_value("HelloWorld", 1);
-        //!--
-    }
-
-    {
-        //DYNAMIC_HELLO_WORLD_API
-        // In HelloWorldPublisher.h
-        // Dynamic Types
-        eprosima::fastrtps::types::DynamicData* m_DynHello;
-        eprosima::fastrtps::types::DynamicPubSubType m_DynType;
-
-        // In HelloWorldPublisher.cpp
-        // Create basic builders
-        eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_type_builder(DynamicTypeBuilderFactory::get_instance()
-                        ->create_struct_builder());
-
-        // Add members to the struct.
-        struct_type_builder->add_member(0, "index", DynamicTypeBuilderFactory::get_instance()->create_uint32_type());
-        struct_type_builder->add_member(1, "message", DynamicTypeBuilderFactory::get_instance()->create_string_type());
-        struct_type_builder->set_name("HelloWorld");
-
-        DynamicType_ptr dynType = struct_type_builder->build();
-        m_DynType.SetDynamicType(dynType);
-        m_DynHello = DynamicDataFactory::get_instance()->create_data(dynType);
-        m_DynHello->set_uint32_value(0, 0);
-        m_DynHello->set_string_value("HelloWorld", 1);
-        //!--
-    }
-
-}
-
 bool permissions_test(
         std::string main_ca_file,
         std::string appcert_file,
diff --git a/code/DDSCodeTester.cpp b/code/DDSCodeTester.cpp
index 84a3b794c..f0c4a33c0 100644
--- a/code/DDSCodeTester.cpp
+++ b/code/DDSCodeTester.cpp
@@ -27,10 +27,16 @@
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
 #include <fastdds/dds/subscriber/SubscriberListener.hpp>
-#include <fastdds/dds/subscriber/SubscriberListener.hpp>
 #include <fastdds/dds/topic/qos/TopicQos.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/dds/topic/TopicListener.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicDataFactory.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicPubSubType.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilder.hpp>
+#include <fastdds/dds/xtypes/dynamic_types/DynamicTypeBuilderFactory.hpp>
+#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
 #include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastdds/rtps/transport/ChainingTransport.h>
 #include <fastdds/rtps/transport/ChainingTransportDescriptor.h>
@@ -47,11 +53,6 @@
 #include <fastdds/statistics/dds/publisher/qos/DataWriterQos.hpp>
 #include <fastdds/statistics/topic_names.hpp>
 #include <fastdds/utils/IPLocator.h>
-#include <fastrtps/types/DynamicDataFactory.h>
-#include <fastrtps/types/DynamicTypeBuilderFactory.h>
-#include <fastrtps/types/DynamicTypeBuilderPtr.h>
-#include <fastrtps/types/DynamicTypePtr.h>
-
 
 using namespace eprosima::fastdds::dds;
 
@@ -161,7 +162,7 @@ class CustomDomainParticipantListener : public DomainParticipantListener
     }
 
     void on_participant_discovery(
-            DomainParticipant* /*participant*/,
+            DomainParticipant* participant,
             eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info,
             bool& should_be_ignored) override
     {
@@ -180,13 +181,13 @@ class CustomDomainParticipantListener : public DomainParticipantListener
         else if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT ||
                 info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT)
         {
-            std::cout << "New participant lost" << std::endl;
+            std::cout << "Participant lost" << std::endl;
         }
     }
 
 #if HAVE_SECURITY
     void onParticipantAuthentication(
-            DomainParticipant* /*participant*/,
+            DomainParticipant* participant,
             eprosima::fastrtps::rtps::ParticipantAuthenticationInfo&& info) override
     {
         if (info.status == eprosima::fastrtps::rtps::ParticipantAuthenticationInfo::AUTHORIZED_PARTICIPANT)
@@ -201,76 +202,52 @@ class CustomDomainParticipantListener : public DomainParticipantListener
 
 #endif // if HAVE_SECURITY
 
-    void on_subscriber_discovery(
-            DomainParticipant* /*participant*/,
-            eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override
+    void on_data_reader_discovery(
+            DomainParticipant* participant,
+            eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info,
+            bool& should_be_ignored) override
     {
+        should_be_ignored = false;
         if (info.status == eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER)
         {
-            std::cout << "New subscriber discovered" << std::endl;
+            std::cout << "New datareader discovered" << std::endl;
+            // The following line can be modified to evaluate whether the discovered datareader should be ignored
+            // (usually based on fields present in the discovery information)
+            bool ignoring_condition = false;
+            if (ignoring_condition)
+            {
+                should_be_ignored = true; // Request the ignoring of the discovered datareader
+            }
         }
         else if (info.status == eprosima::fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER)
         {
-            std::cout << "New subscriber lost" << std::endl;
+            std::cout << "Datareader lost" << std::endl;
         }
     }
 
-    void on_publisher_discovery(
-            DomainParticipant* /*participant*/,
-            eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override
+    void on_data_writer_discovery(
+            DomainParticipant* participant,
+            eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info,
+            bool& should_be_ignored) override
     {
+        should_be_ignored = false;
         if (info.status == eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER)
         {
-            std::cout << "New publisher discovered" << std::endl;
+            std::cout << "New datawriter discovered" << std::endl;
+            // The following line can be modified to evaluate whether the discovered datawriter should be ignored
+            // (usually based on fields present in the discovery information)
+            bool ignoring_condition = false;
+            if (ignoring_condition)
+            {
+                should_be_ignored = true; // Request the ignoring of the discovered datawriter
+            }
         }
         else if (info.status == eprosima::fastrtps::rtps::WriterDiscoveryInfo::REMOVED_WRITER)
         {
-            std::cout << "New publisher lost" << std::endl;
+            std::cout << "Datawriter lost" << std::endl;
         }
     }
 
-    void on_type_discovery(
-            DomainParticipant* participant,
-            const eprosima::fastrtps::rtps::SampleIdentity& request_sample_id,
-            const eprosima::fastcdr::string_255& topic,
-            const eprosima::fastrtps::types::TypeIdentifier* identifier,
-            const eprosima::fastrtps::types::TypeObject* object,
-            eprosima::fastrtps::types::DynamicType_ptr dyn_type) override
-    {
-        static_cast<void>(participant);
-        static_cast<void>(request_sample_id);
-        static_cast<void>(topic);
-        static_cast<void>(identifier);
-        static_cast<void>(object);
-        static_cast<void>(dyn_type);
-        std::cout << "New data type discovered" << std::endl;
-
-    }
-
-    void on_type_dependencies_reply(
-            DomainParticipant* participant,
-            const eprosima::fastrtps::rtps::SampleIdentity& request_sample_id,
-            const eprosima::fastrtps::types::TypeIdentifierWithSizeSeq& dependencies) override
-    {
-        static_cast<void>(participant);
-        static_cast<void>(request_sample_id);
-        static_cast<void>(dependencies);
-        std::cout << "Answer to a request for type dependencies was received" << std::endl;
-    }
-
-    void on_type_information_received(
-            DomainParticipant* participant,
-            const eprosima::fastcdr::string_255 topic_name,
-            const eprosima::fastcdr::string_255 type_name,
-            const eprosima::fastrtps::types::TypeInformation& type_information) override
-    {
-        static_cast<void>(participant);
-        static_cast<void>(topic_name);
-        static_cast<void>(type_name);
-        static_cast<void>(type_information);
-        std::cout << "New data type information received" << std::endl;
-    }
-
 };
 //!--
 
@@ -408,7 +385,7 @@ void dds_domain_examples()
         CustomDomainParticipantListener custom_listener;
         DomainParticipant* participant_with_custom_listener =
                 DomainParticipantFactory::get_instance()->create_participant_with_default_profile(
-                        &custom_listener, StatusMask::none());
+            &custom_listener, StatusMask::none());
         if (nullptr == participant_with_custom_listener)
         {
             // Error
@@ -457,7 +434,7 @@ void dds_domain_examples()
         }
 
         // Set the QoS on the participant to the default
-        if (participant->set_qos(PARTICIPANT_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_qos(PARTICIPANT_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -465,7 +442,7 @@ void dds_domain_examples()
 
         // The previous instruction is equivalent to the following:
         if (participant->set_qos(DomainParticipantFactory::get_instance()->get_default_participant_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -488,14 +465,14 @@ void dds_domain_examples()
         // (...)
 
         // Delete entities created by the DomainParticipant
-        if (participant->delete_contained_entities() != ReturnCode_t::RETCODE_OK)
+        if (participant->delete_contained_entities() != RETCODE_OK)
         {
             // DomainParticipant failed to delete the entities it created.
             return;
         }
 
         // Delete the DomainParticipant
-        if (DomainParticipantFactory::get_instance()->delete_participant(participant) != ReturnCode_t::RETCODE_OK)
+        if (DomainParticipantFactory::get_instance()->delete_participant(participant) != RETCODE_OK)
         {
             // Error
             return;
@@ -513,7 +490,7 @@ void dds_domain_examples()
 
         // Set as the new default TopicQos
         if (DomainParticipantFactory::get_instance()->set_default_participant_qos(qos_type1) !=
-                ReturnCode_t::RETCODE_OK)
+                RETCODE_OK)
         {
             // Error
             return;
@@ -536,7 +513,7 @@ void dds_domain_examples()
 
         // Set as the new default TopicQos
         if (DomainParticipantFactory::get_instance()->set_default_participant_qos(qos_type2) !=
-                ReturnCode_t::RETCODE_OK)
+                RETCODE_OK)
         {
             // Error
             return;
@@ -553,7 +530,7 @@ void dds_domain_examples()
 
         // Resetting the default DomainParticipantQos to the original default constructed values
         if (DomainParticipantFactory::get_instance()->set_default_participant_qos(PARTICIPANT_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -561,7 +538,7 @@ void dds_domain_examples()
 
         // The previous instruction is equivalent to the following
         if (DomainParticipantFactory::get_instance()->set_default_participant_qos(DomainParticipantQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -576,7 +553,7 @@ void dds_domain_examples()
         // Setting autoenable_created_entities to true makes the created DomainParticipants
         // to be enabled upon creation
         qos.entity_factory().autoenable_created_entities = true;
-        if (DomainParticipantFactory::get_instance()->set_qos(qos) != ReturnCode_t::RETCODE_OK)
+        if (DomainParticipantFactory::get_instance()->set_qos(qos) != RETCODE_OK)
         {
             // Error
             return;
@@ -595,7 +572,7 @@ void dds_domain_examples()
         // Setting autoenable_created_entities to false makes the created DomainParticipants
         // to be disabled upon creation
         qos.entity_factory().autoenable_created_entities = false;
-        if (DomainParticipantFactory::get_instance()->set_qos(qos) != ReturnCode_t::RETCODE_OK)
+        if (DomainParticipantFactory::get_instance()->set_qos(qos) != RETCODE_OK)
         {
             // Error
             return;
@@ -811,7 +788,7 @@ void dds_domain_examples()
 
         // Enable statistics DataWriter
         if (statistics_participant->enable_statistics_datawriter(eprosima::fastdds::statistics::GAP_COUNT_TOPIC,
-                eprosima::fastdds::statistics::dds::STATISTICS_DATAWRITER_QOS) != ReturnCode_t::RETCODE_OK)
+                eprosima::fastdds::statistics::dds::STATISTICS_DATAWRITER_QOS) != RETCODE_OK)
         {
             // Error
             return;
@@ -822,14 +799,14 @@ void dds_domain_examples()
 
         // Disable statistics DataWriter
         if (statistics_participant->disable_statistics_datawriter(eprosima::fastdds::statistics::GAP_COUNT_TOPIC) !=
-                ReturnCode_t::RETCODE_OK)
+                RETCODE_OK)
         {
             // Error
             return;
         }
 
         // Delete DomainParticipant
-        if (DomainParticipantFactory::get_instance()->delete_participant(participant) != ReturnCode_t::RETCODE_OK)
+        if (DomainParticipantFactory::get_instance()->delete_participant(participant) != RETCODE_OK)
         {
             // Error
             return;
@@ -946,7 +923,7 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
                 std::cout << "New DomainParticipant '" << info.info.m_participantName <<
                     "' with ID '" << info.info.m_guid.entityId << "' and GuidPrefix '" <<
                     info.info.m_guid.guidPrefix << "' discovered." << std::endl;
-                /* The following line can be substitue to evaluate whether the discovered participant should be ignored */
+                /* The following line can be substituted to evaluate whether the discovered participant should be ignored */
                 bool ignoring_condition = false;
                 if (ignoring_condition)
                 {
@@ -959,77 +936,181 @@ class DiscoveryDomainParticipantListener : public DomainParticipantListener
                 break;
             case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
                 /* Process the case when a DomainParticipant was removed from the domain */
-                std::cout << "New DomainParticipant '" << info.info.m_participantName <<
+                std::cout << "DomainParticipant '" << info.info.m_participantName <<
                     "' with ID '" << info.info.m_guid.entityId << "' and GuidPrefix '" <<
                     info.info.m_guid.guidPrefix << "' left the domain." << std::endl;
                 break;
         }
     }
 
-    /* Custom Callback on_subscriber_discovery */
-    void on_subscriber_discovery(
+    /* Custom Callback on_data_reader_discovery */
+    void on_data_reader_discovery(
             DomainParticipant* participant,
-            eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override
+            eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info,
+            bool& should_be_ignored) override
     {
+        should_be_ignored = false;
         static_cast<void>(participant);
         switch (info.status){
             case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
-                /* Process the case when a new subscriber was found in the domain */
+            {
+                /* Process the case when a new datareader was found in the domain */
                 std::cout << "New DataReader subscribed to topic '" << info.info.topicName() <<
                     "' of type '" << info.info.typeName() << "' discovered";
-                break;
+                /* The following line can be substituted to evaluate whether the discovered datareader should be ignored */
+                bool ignoring_condition = false;
+                if (ignoring_condition)
+                {
+                    should_be_ignored = true;     // Request the ignoring of the discovered datareader
+                }
+            }
+            break;
             case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
-                /* Process the case when a subscriber changed its QOS */
+                /* Process the case when a datareader changed its QOS */
                 break;
             case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER:
-                /* Process the case when a subscriber was removed from the domain */
-                std::cout << "New DataReader subscribed to topic '" << info.info.topicName() <<
+                /* Process the case when a datareader was removed from the domain */
+                std::cout << "DataReader subscribed to topic '" << info.info.topicName() <<
                     "' of type '" << info.info.typeName() << "' left the domain.";
                 break;
         }
     }
 
-    /* Custom Callback on_publisher_discovery */
-    void on_publisher_discovery(
+    /* Custom Callback on_data_writer_discovery */
+    void on_data_writer_discovery(
             DomainParticipant* participant,
-            eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override
+            eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info,
+            bool& should_be_ignored) override
     {
+        should_be_ignored = false;
         static_cast<void>(participant);
         switch (info.status){
             case eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER:
-                /* Process the case when a new publisher was found in the domain */
+            {
+                /* Process the case when a new datawriter was found in the domain */
                 std::cout << "New DataWriter publishing under topic '" << info.info.topicName() <<
                     "' of type '" << info.info.typeName() << "' discovered";
-                break;
+                /* The following line can be substituted to evaluate whether the discovered datawriter should be ignored */
+                bool ignoring_condition = false;
+                if (ignoring_condition)
+                {
+                    should_be_ignored = true;     // Request the ignoring of the discovered datawriter
+                }
+            }
+            break;
             case eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER:
-                /* Process the case when a publisher changed its QOS */
+                /* Process the case when a datawriter changed its QOS */
                 break;
             case eprosima::fastrtps::rtps::WriterDiscoveryInfo::REMOVED_WRITER:
-                /* Process the case when a publisher was removed from the domain */
-                std::cout << "New DataWriter publishing under topic '" << info.info.topicName() <<
+                /* Process the case when a datawriter was removed from the domain */
+                std::cout << "DataWriter publishing under topic '" << info.info.topicName() <<
                     "' of type '" << info.info.typeName() << "' left the domain.";
                 break;
         }
     }
 
-    /* Custom Callback on_type_discovery */
-    void on_type_discovery(
+};
+//!--
+
+//!--REMOTE_TYPE_MATCHING
+class RemoteDiscoveryDomainParticipantListener : public DomainParticipantListener
+{
+    /* Custom Callback on_data_reader_discovery */
+    void on_data_reader_discovery(
             DomainParticipant* participant,
-            const eprosima::fastrtps::rtps::SampleIdentity& request_sample_id,
-            const eprosima::fastcdr::string_255& topic,
-            const eprosima::fastrtps::types::TypeIdentifier* identifier,
-            const eprosima::fastrtps::types::TypeObject* object,
-            eprosima::fastrtps::types::DynamicType_ptr dyn_type) override
+            eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info,
+            bool& should_be_ignored) override
     {
-        static_cast<void>(participant);
-        static_cast<void>(request_sample_id);
-        static_cast<void>(topic);
-        static_cast<void>(identifier);
-        static_cast<void>(object);
-        static_cast<void>(dyn_type);
-        std::cout << "New data type of topic '" << topic << "' discovered." << std::endl;
+        should_be_ignored = false;
+        // Get remote type information
+        xtypes::TypeObject remote_type_object;
+        if (RETCODE_OK != DomainParticipantFactory::get_instance()->type_object_registry().get_type_object(
+                info.info.type_information().type_information.complete().typeid_with_size().type_id(),
+                remote_type_object))
+        {
+            // Error
+            return;
+        }
+        // Register remotely discovered type
+        DynamicType::_ref_type remote_type = DynamicTypeBuilderFactory::get_instance()->create_type_w_type_object(
+                remote_type_object)->build();
+        TypeSupport dyn_type_support(new DynamicPubSubType(remote_type));
+        dyn_type_support.register_type(participant);
+
+        // Create a Topic with the remotely discovered type.
+        Topic* topic =
+                participant->create_topic(info.info.topicName().to_string(), dyn_type_support.get_type_name(),
+                TOPIC_QOS_DEFAULT);
+        if (nullptr == topic)
+        {
+            // Error
+            return;
+        }
+
+        // Create endpoint
+        Publisher* publisher = participant->create_publisher(PUBLISHER_QOS_DEFAULT);
+        if (nullptr == publisher)
+        {
+            // Error
+            return;
+        }
+
+        DataWriter* data_writer = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
+        if (nullptr == data_writer)
+        {
+            // Error
+            return;
+        }
     }
 
+    /* Custom Callback on_data_writer_discovery */
+    void on_data_writer_discovery(
+            DomainParticipant* participant,
+            eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info,
+            bool& should_be_ignored) override
+    {
+        should_be_ignored = false;
+        // Get remote type information
+        xtypes::TypeObject remote_type_object;
+        if (RETCODE_OK != DomainParticipantFactory::get_instance()->type_object_registry().get_type_object(
+                info.info.type_information().type_information.complete().typeid_with_size().type_id(),
+                remote_type_object))
+        {
+            // Error
+            return;
+        }
+        // Register remotely discovered type
+        DynamicType::_ref_type remote_type = DynamicTypeBuilderFactory::get_instance()->create_type_w_type_object(
+                remote_type_object)->build();
+        TypeSupport dyn_type_support(new DynamicPubSubType(remote_type));
+        dyn_type_support.register_type(participant);
+
+        // Create a Topic with the remotely discovered type.
+        Topic* topic =
+                participant->create_topic(info.info.topicName().to_string(), dyn_type_support.get_type_name(),
+                TOPIC_QOS_DEFAULT);
+        if (nullptr == topic)
+        {
+            // Error
+            return;
+        }
+
+        // Create endpoint
+        Subscriber* subscriber = participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
+        if (nullptr == subscriber)
+        {
+            // Error
+            return;
+        }
+
+        // The QoS depends on the remote endpoint QoS. For simplicity, default QoS have been assumed.
+        DataReader* data_reader = subscriber->create_datareader(topic, DATAREADER_QOS_DEFAULT);
+        if (nullptr == data_reader)
+        {
+            // Error
+            return;
+        }
+    }
 };
 //!--
 
@@ -1240,7 +1321,7 @@ void dds_discovery_examples()
 
         /* Update list of remote servers for this client or server */
         client_or_server_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
-        if (ReturnCode_t::RETCODE_OK != client_or_server->set_qos(client_or_server_qos))
+        if (RETCODE_OK != client_or_server->set_qos(client_or_server_qos))
         {
             // Error
             return;
@@ -1345,7 +1426,7 @@ void dds_discovery_examples()
         // The (file://) flag is optional.
         std::string file = "file://static_Discovery.xml";
         DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
-        if (ReturnCode_t::RETCODE_OK != factory->check_xml_static_discovery(file))
+        if (RETCODE_OK != factory->check_xml_static_discovery(file))
         {
             std::cout << "Error parsing xml file " << file << std::endl;
         }
@@ -1365,7 +1446,7 @@ void dds_discovery_examples()
                 "</writer>" \
                 "</participant>" \
                 "</staticdiscovery>";
-        if (ReturnCode_t::RETCODE_OK != factory->check_xml_static_discovery(fileData))
+        if (RETCODE_OK != factory->check_xml_static_discovery(fileData))
         {
             std::cout << "Error parsing xml file data:" << std::endl << fileData << std::endl;
         }
@@ -1419,21 +1500,21 @@ class CustomDataType : public TopicDataType
     }
 
     bool serialize(
-            void* /*data*/,
-            eprosima::fastrtps::rtps::SerializedPayload_t* /*payload*/) override
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
     {
         return true;
     }
 
     bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* /*payload*/,
-            void* /*data*/) override
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override
     {
         return true;
     }
 
     std::function<uint32_t()> getSerializedSizeProvider(
-            void* /*data*/) override
+            void* data) override
     {
         return std::function<uint32_t()>();
     }
@@ -1444,14 +1525,14 @@ class CustomDataType : public TopicDataType
     }
 
     void deleteData(
-            void* /*data*/) override
+            void* data) override
     {
     }
 
     bool getKey(
-            void* /*data*/,
-            eprosima::fastrtps::rtps::InstanceHandle_t* /*ihandle*/,
-            bool /*force_md5*/) override
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            bool force_md5) override
     {
         return true;
     }
@@ -1602,7 +1683,7 @@ void dds_topic_examples()
         }
 
         // Set the QoS on the topic to the default
-        if (topic->set_qos(TOPIC_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (topic->set_qos(TOPIC_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -1610,7 +1691,7 @@ void dds_topic_examples()
 
         // The previous instruction is equivalent to the following:
         if (topic->set_qos(participant->get_default_topic_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -1642,7 +1723,7 @@ void dds_topic_examples()
         // (...)
 
         // Delete the Topic
-        if (participant->delete_topic(topic) != ReturnCode_t::RETCODE_OK)
+        if (participant->delete_topic(topic) != RETCODE_OK)
         {
             // Error
             return;
@@ -1668,7 +1749,7 @@ void dds_topic_examples()
         // (...)
 
         // Set as the new default TopicQos
-        if (participant->set_default_topic_qos(qos_type1) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_topic_qos(qos_type1) != RETCODE_OK)
         {
             // Error
             return;
@@ -1690,7 +1771,7 @@ void dds_topic_examples()
         // (...)
 
         // Set as the new default TopicQos
-        if (participant->set_default_topic_qos(qos_type2) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_topic_qos(qos_type2) != RETCODE_OK)
         {
             // Error
             return;
@@ -1707,7 +1788,7 @@ void dds_topic_examples()
 
         // Resetting the default TopicQos to the original default constructed values
         if (participant->set_default_topic_qos(TOPIC_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -1715,7 +1796,7 @@ void dds_topic_examples()
 
         // The previous instruction is equivalent to the following
         if (participant->set_default_topic_qos(TopicQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -1781,12 +1862,11 @@ void dds_topic_examples()
         DomainParticipantFactory::get_instance()->load_XML_profiles_file("example_type.xml");
 
         // Retrieve the an instance of the desired type
-        eprosima::fastrtps::types::DynamicTypeBuilder* type;
-        DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("DynamicType", type);
+        DynamicType::_ref_type dyn_type;
+        DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("DynamicType", dyn_type);
 
-        // Build and register it
-        eprosima::fastrtps::types::DynamicType_ptr dyn_type = type->build();
-        TypeSupport dyn_type_support(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
+        // Register dynamic type
+        TypeSupport dyn_type_support(new DynamicPubSubType(dyn_type));
         dyn_type_support.register_type(participant, nullptr);
 
         // Create a Topic with the registered type.
@@ -1945,7 +2025,7 @@ void dds_content_filtered_topic_examples()
         // (...)
 
         // Update the expression
-        if (ReturnCode_t::RETCODE_OK !=
+        if (RETCODE_OK !=
                 filter_topic->set_filter_expression("message like %0 or index > %1", {"'Hello*'", "15"}))
         {
             // Error
@@ -1956,7 +2036,7 @@ void dds_content_filtered_topic_examples()
         print_filter_info(filter_topic);
 
         // Update the parameters
-        if (ReturnCode_t::RETCODE_OK !=
+        if (RETCODE_OK !=
                 filter_topic->set_expression_parameters({"'*world*'", "222"}))
         {
             // Error
@@ -2020,7 +2100,7 @@ void dds_content_filtered_topic_examples()
         // (...)
 
         // Delete the ContentFilteredTopic
-        if (ReturnCode_t::RETCODE_OK != participant->delete_contentfilteredtopic(filter_topic))
+        if (RETCODE_OK != participant->delete_contentfilteredtopic(filter_topic))
         {
             // Error
             return;
@@ -2069,7 +2149,7 @@ void dds_custom_filters_examples()
             {
                 deser >> index;
             }
-            catch (eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
+            catch (eprosima::fastcdr::exception::NotEnoughMemoryException& exception)
             {
                 return false;
             }
@@ -2108,19 +2188,19 @@ void dds_custom_filters_examples()
             // Check the ContentFilteredTopic should be created by my factory.
             if (0 != strcmp(filter_class_name, "MY_CUSTOM_FILTER"))
             {
-                return ReturnCode_t::RETCODE_BAD_PARAMETER;
+                return RETCODE_BAD_PARAMETER;
             }
 
             // Check the ContentFilteredTopic is created for the unique type this Custom Filter supports.
             if (0 != strcmp(type_name, "HelloWorld"))
             {
-                return ReturnCode_t::RETCODE_BAD_PARAMETER;
+                return RETCODE_BAD_PARAMETER;
             }
 
             // Check that the two mandatory filter parameters are set.
             if (2 != filter_parameters.length())
             {
-                return ReturnCode_t::RETCODE_BAD_PARAMETER;
+                return RETCODE_BAD_PARAMETER;
             }
 
             // If there is an update, delete previous instance.
@@ -2132,7 +2212,7 @@ void dds_custom_filters_examples()
             // Instantiation of the Custom Filter.
             filter_instance = new MyCustomFilter(std::stoi(filter_parameters[0]), std::stoi(filter_parameters[1]));
 
-            return ReturnCode_t::RETCODE_OK;
+            return RETCODE_OK;
         }
 
         ReturnCode_t delete_content_filter(
@@ -2142,13 +2222,13 @@ void dds_custom_filters_examples()
             // Check the ContentFilteredTopic should be created by my factory.
             if (0 != strcmp(filter_class_name, "MY_CUSTOM_FILTER"))
             {
-                return ReturnCode_t::RETCODE_BAD_PARAMETER;
+                return RETCODE_BAD_PARAMETER;
             }
 
             // Deletion of the Custom Filter.
             delete(dynamic_cast<MyCustomFilter*>(filter_instance));
 
-            return ReturnCode_t::RETCODE_OK;
+            return RETCODE_OK;
         }
 
     };
@@ -2170,7 +2250,7 @@ void dds_custom_filters_examples()
 
 
         // Registration of the factory
-        if (ReturnCode_t::RETCODE_OK !=
+        if (RETCODE_OK !=
                 participant->register_content_filter_factory("MY_CUSTOM_FILTER", factory))
         {
             // Error
@@ -2383,7 +2463,7 @@ void dds_publisher_examples()
         }
 
         // Set the QoS on the publisher to the default
-        if (publisher->set_qos(PUBLISHER_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (publisher->set_qos(PUBLISHER_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -2391,7 +2471,7 @@ void dds_publisher_examples()
 
         // The previous instruction is equivalent to the following:
         if (publisher->set_qos(participant->get_default_publisher_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2423,14 +2503,14 @@ void dds_publisher_examples()
         // (...)
 
         // Delete the entities the Publisher created.
-        if (publisher->delete_contained_entities() != ReturnCode_t::RETCODE_OK)
+        if (publisher->delete_contained_entities() != RETCODE_OK)
         {
             // Publisher failed to delete the entities it created.
             return;
         }
 
         // Delete the Publisher
-        if (participant->delete_publisher(publisher) != ReturnCode_t::RETCODE_OK)
+        if (participant->delete_publisher(publisher) != RETCODE_OK)
         {
             // Error
             return;
@@ -2456,7 +2536,7 @@ void dds_publisher_examples()
         // (...)
 
         // Set as the new default PublisherQos
-        if (participant->set_default_publisher_qos(qos_type1) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_publisher_qos(qos_type1) != RETCODE_OK)
         {
             // Error
             return;
@@ -2478,7 +2558,7 @@ void dds_publisher_examples()
         // (...)
 
         // Set as the new default PublisherQos
-        if (participant->set_default_publisher_qos(qos_type2) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_publisher_qos(qos_type2) != RETCODE_OK)
         {
             // Error
             return;
@@ -2495,7 +2575,7 @@ void dds_publisher_examples()
 
         // Resetting the default PublisherQos to the original default constructed values
         if (participant->set_default_publisher_qos(PUBLISHER_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2503,7 +2583,7 @@ void dds_publisher_examples()
 
         // The previous instruction is equivalent to the following
         if (participant->set_default_publisher_qos(PublisherQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2552,7 +2632,7 @@ class CustomDataWriterListener : public DataWriterListener
     }
 
     void on_offered_incompatible_qos(
-            DataWriter* /*writer*/,
+            DataWriter* writer,
             const OfferedIncompatibleQosStatus& status) override
     {
         std::cout << "Found a remote Topic with incompatible QoS (QoS ID: " << status.last_policy_id <<
@@ -2726,7 +2806,7 @@ void dds_dataWriter_examples()
         }
 
         // Set the QoS on the DataWriter to the default
-        if (data_writer->set_qos(DATAWRITER_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (data_writer->set_qos(DATAWRITER_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -2734,7 +2814,7 @@ void dds_dataWriter_examples()
 
         // The previous instruction is equivalent to the following:
         if (data_writer->set_qos(publisher->get_default_datawriter_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2757,7 +2837,7 @@ void dds_dataWriter_examples()
         // (...)
 
         // Delete the DataWriter
-        if (publisher->delete_datawriter(data_writer) != ReturnCode_t::RETCODE_OK)
+        if (publisher->delete_datawriter(data_writer) != RETCODE_OK)
         {
             // Error
             return;
@@ -2774,7 +2854,7 @@ void dds_dataWriter_examples()
         // (...)
 
         // Set as the new default DataWriterQos
-        if (publisher->set_default_datawriter_qos(qos_type1) != ReturnCode_t::RETCODE_OK)
+        if (publisher->set_default_datawriter_qos(qos_type1) != RETCODE_OK)
         {
             // Error
             return;
@@ -2796,7 +2876,7 @@ void dds_dataWriter_examples()
         // (...)
 
         // Set as the new default DataWriterQos
-        if (publisher->set_default_datawriter_qos(qos_type2) != ReturnCode_t::RETCODE_OK)
+        if (publisher->set_default_datawriter_qos(qos_type2) != RETCODE_OK)
         {
             // Error
             return;
@@ -2813,7 +2893,7 @@ void dds_dataWriter_examples()
 
         // Resetting the default DataWriterQos to the original default constructed values
         if (publisher->set_default_datawriter_qos(DATAWRITER_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2821,7 +2901,7 @@ void dds_dataWriter_examples()
 
         // The previous instruction is equivalent to the following
         if (publisher->set_default_datawriter_qos(DataWriterQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -2860,7 +2940,7 @@ void dds_dataWriter_examples()
         // (...)
 
         // Publish the new value, deduce the instance handle
-        if (data_writer->write(data, eprosima::fastrtps::rtps::InstanceHandle_t()) != ReturnCode_t::RETCODE_OK)
+        if (data_writer->write(data, eprosima::fastrtps::rtps::InstanceHandle_t()) != RETCODE_OK)
         {
             // Error
             return;
@@ -2875,7 +2955,7 @@ void dds_dataWriter_examples()
             //DDS_DATAWRITER_LOAN_SAMPLES
             // Borrow a data instance
             void* data = nullptr;
-            if (ReturnCode_t::RETCODE_OK == data_writer->loan_sample(data))
+            if (RETCODE_OK == data_writer->loan_sample(data))
             {
                 bool error = false;
 
@@ -2890,7 +2970,7 @@ void dds_dataWriter_examples()
                 }
 
                 // Publish the new value
-                if (data_writer->write(data, eprosima::fastrtps::rtps::InstanceHandle_t()) != ReturnCode_t::RETCODE_OK)
+                if (data_writer->write(data, eprosima::fastrtps::rtps::InstanceHandle_t()) != RETCODE_OK)
                 {
                     // Error
                     return;
@@ -3166,7 +3246,7 @@ void dds_subscriber_examples()
         }
 
         // Set the QoS on the subscriber to the default
-        if (subscriber->set_qos(SUBSCRIBER_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (subscriber->set_qos(SUBSCRIBER_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -3174,7 +3254,7 @@ void dds_subscriber_examples()
 
         // The previous instruction is equivalent to the following:
         if (subscriber->set_qos(participant->get_default_subscriber_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3206,14 +3286,14 @@ void dds_subscriber_examples()
         // (...)
 
         // Delete the entities the subscriber created
-        if (subscriber->delete_contained_entities() != ReturnCode_t::RETCODE_OK)
+        if (subscriber->delete_contained_entities() != RETCODE_OK)
         {
             // Subscriber failed to delete the entities it created
             return;
         }
 
         // Delete the Subscriber
-        if (participant->delete_subscriber(subscriber) != ReturnCode_t::RETCODE_OK)
+        if (participant->delete_subscriber(subscriber) != RETCODE_OK)
         {
             // Error
             return;
@@ -3239,7 +3319,7 @@ void dds_subscriber_examples()
         // (...)
 
         // Set as the new default SubscriberQos
-        if (participant->set_default_subscriber_qos(qos_type1) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_subscriber_qos(qos_type1) != RETCODE_OK)
         {
             // Error
             return;
@@ -3261,7 +3341,7 @@ void dds_subscriber_examples()
         // (...)
 
         // Set as the new default SubscriberQos
-        if (participant->set_default_subscriber_qos(qos_type2) != ReturnCode_t::RETCODE_OK)
+        if (participant->set_default_subscriber_qos(qos_type2) != RETCODE_OK)
         {
             // Error
             return;
@@ -3278,7 +3358,7 @@ void dds_subscriber_examples()
 
         // Resetting the default SubscriberQos to the original default constructed values
         if (participant->set_default_subscriber_qos(SUBSCRIBER_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3286,7 +3366,7 @@ void dds_subscriber_examples()
 
         // The previous instruction is equivalent to the following
         if (participant->set_default_subscriber_qos(SubscriberQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3366,7 +3446,7 @@ class CustomDataReaderListener : public DataReaderListener
     }
 
     void on_requested_incompatible_qos(
-            DataReader* /*reader*/,
+            DataReader* reader,
             const RequestedIncompatibleQosStatus& info) override
     {
         std::cout << "Found a remote Topic with incompatible QoS (QoS ID: " << info.last_policy_id <<
@@ -3530,7 +3610,7 @@ void dds_dataReader_examples()
         }
 
         // Set the QoS on the DataWriter to the default
-        if (data_reader->set_qos(DATAREADER_QOS_DEFAULT) != ReturnCode_t::RETCODE_OK)
+        if (data_reader->set_qos(DATAREADER_QOS_DEFAULT) != RETCODE_OK)
         {
             // Error
             return;
@@ -3538,7 +3618,7 @@ void dds_dataReader_examples()
 
         // The previous instruction is equivalent to the following:
         if (data_reader->set_qos(subscriber->get_default_datareader_qos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3561,14 +3641,14 @@ void dds_dataReader_examples()
         // (...)
 
         // Delete the entities the DataReader created
-        if (data_reader->delete_contained_entities() != ReturnCode_t::RETCODE_OK)
+        if (data_reader->delete_contained_entities() != RETCODE_OK)
         {
             // DataReader failed to delete the entities it created.
             return;
         }
 
         // Delete the DataReader
-        if (subscriber->delete_datareader(data_reader) != ReturnCode_t::RETCODE_OK)
+        if (subscriber->delete_datareader(data_reader) != RETCODE_OK)
         {
             // Error
             return;
@@ -3585,7 +3665,7 @@ void dds_dataReader_examples()
         // (...)
 
         // Set as the new default DataReaderQos
-        if (subscriber->set_default_datareader_qos(qos_type1) != ReturnCode_t::RETCODE_OK)
+        if (subscriber->set_default_datareader_qos(qos_type1) != RETCODE_OK)
         {
             // Error
             return;
@@ -3607,7 +3687,7 @@ void dds_dataReader_examples()
         // (...)
 
         // Set as the new default DataReaderQos
-        if (subscriber->set_default_datareader_qos(qos_type2) != ReturnCode_t::RETCODE_OK)
+        if (subscriber->set_default_datareader_qos(qos_type2) != RETCODE_OK)
         {
             // Error
             return;
@@ -3624,7 +3704,7 @@ void dds_dataReader_examples()
 
         // Resetting the default DataReaderQos to the original default constructed values
         if (subscriber->set_default_datareader_qos(DATAREADER_QOS_DEFAULT)
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3632,7 +3712,7 @@ void dds_dataReader_examples()
 
         // The previous instruction is equivalent to the following
         if (subscriber->set_default_datareader_qos(DataReaderQos())
-                != ReturnCode_t::RETCODE_OK)
+                != RETCODE_OK)
         {
             // Error
             return;
@@ -3669,9 +3749,9 @@ void dds_dataReader_examples()
         while (true)
         {
             ConditionSeq active_conditions;
-            if (ReturnCode_t::RETCODE_OK == wait_set.wait(active_conditions, timeout))
+            if (RETCODE_OK == wait_set.wait(active_conditions, timeout))
             {
-                while (ReturnCode_t::RETCODE_OK == data_reader->take_next_sample(&data, &info))
+                while (RETCODE_OK == data_reader->take_next_sample(&data, &info))
                 {
                     if (info.valid_data)
                     {
@@ -3722,7 +3802,7 @@ void dds_dataReader_examples()
         {
             if (data_reader->wait_for_unread_message(timeout))
             {
-                if (ReturnCode_t::RETCODE_OK == data_reader->take_next_sample(&data, &info))
+                if (RETCODE_OK == data_reader->take_next_sample(&data, &info))
                 {
                     if (info.valid_data)
                     {
@@ -3750,7 +3830,7 @@ void dds_dataReader_examples()
 
         {
             //READING-INSTANCE
-            if (ReturnCode_t::RETCODE_OK == data_reader->take_next_sample(&data, &info))
+            if (RETCODE_OK == data_reader->take_next_sample(&data, &info))
             {
                 if (info.valid_data)
                 {
@@ -3801,7 +3881,7 @@ void dds_dataReader_examples()
                             ANY_VIEW_STATE, ANY_INSTANCE_STATE);
 
             // process the returned data
-            if (ret_code == ReturnCode_t::RETCODE_OK)
+            if (ret_code == RETCODE_OK)
             {
                 // Both info_seq.length() and data_seq.length() will have the number of samples returned
                 for (FooSeq::size_type n = 0; n < info_seq.length(); ++n)
@@ -3844,7 +3924,7 @@ class CustomizedDataReaderListener : public DataReaderListener
         SampleInfo info;
 
         // Keep taking data until there is nothing to take
-        while (reader->take_next_sample(&data, &info) == ReturnCode_t::RETCODE_OK)
+        while (reader->take_next_sample(&data, &info) == RETCODE_OK)
         {
             if (info.valid_data)
             {
@@ -4389,17 +4469,6 @@ void dds_qos_examples()
     }
 }
 
-void dds_dynamic_types_examples ()
-{
-    {
-        //DDS_TYPELOOKUP_SERVICE_ENABLING
-        DomainParticipantQos qos;
-        qos.wire_protocol().builtin.typelookup_config.use_client = true;
-        qos.wire_protocol().builtin.typelookup_config.use_server = true;
-        //!--
-    }
-}
-
 void log_examples()
 {
     //LOG_MESSAGES
@@ -4524,11 +4593,847 @@ void log_examples()
 
 }
 
+void dynamictypes_examples()
+{
+    {
+        //!--CPP_PRIMITIVES
+        // Define a struct type with various primitive members
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("PrimitivesStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+
+        // Define and add primitive members to the struct
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("my_bool");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BOOLEAN));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_octet");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BYTE));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_char");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR8));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_wchar");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR16));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_long");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT32));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_ulong");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_int8");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT8));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_uint8");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT8));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_short");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_ushort");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT16));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_longlong");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT64));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_ulonglong");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT64));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_float");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_FLOAT32));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_double");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_FLOAT64));
+        struct_builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_longdouble");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_FLOAT128));
+        struct_builder->add_member(member_descriptor);
+
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for a member of type int32_t
+        int32_t in_value {2};
+        int32_t out_value {0};
+        data->set_int32_value(data->get_member_id_by_name("my_long"), in_value);
+        data->get_int32_value(out_value, data->get_member_id_by_name("my_long"));
+        //!--
+    }
+    {
+        //!--CPP_STRINGS
+        // Define a struct type to contain the strings
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("StringsStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+
+        // Define and add string members to the struct
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+
+        member_descriptor->name("my_string");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        create_string_type(static_cast<uint32_t>(LENGTH_UNLIMITED))->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_STRING8);
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR8));
+            type_descriptor->bound().push_back(static_cast<uint32_t>(LENGTH_UNLIMITED));
+            member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)->build());
+        */
+
+        struct_builder->add_member(member_descriptor);
+        member_descriptor->name("my_wstring");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        create_wstring_type(static_cast<uint32_t>(LENGTH_UNLIMITED))->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_STRING16);
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR16));
+            type_descriptor->bound().push_back(static_cast<uint32_t>(LENGTH_UNLIMITED));
+            member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)->build());
+        */
+
+        struct_builder->add_member(member_descriptor);
+        member_descriptor->name("my_bounded_string");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        create_string_type(41925)->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_STRING8);
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR8));
+            type_descriptor->bound().push_back(41925);
+            member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)->build());
+        */
+
+        struct_builder->add_member(member_descriptor);
+        member_descriptor->name("my_bounded_wstring");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        create_wstring_type(20925)->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_STRING16);
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_CHAR16));
+            type_descriptor->bound().push_back(20925);
+            member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)->build());
+        */
+
+        struct_builder->add_member(member_descriptor);
+
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for a string member
+        std::string in_value {"helloworld"};
+        std::string out_value;
+        data->set_string_value(data->get_member_id_by_name("my_string"), in_value);
+        data->get_string_value(out_value, data->get_member_id_by_name("my_string"));
+        //!--
+    }
+    {
+        //!--CPP_ENUM
+        enum MyEnum : uint32_t
+        {
+            A,
+            B,
+            C
+        };
+
+        // Define a struct type to contain an enum
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("EnumStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+        // Define the enum type
+        TypeDescriptor::_ref_type enum_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        enum_type_descriptor->kind(TK_ENUM);
+        enum_type_descriptor->name("MyEnum");
+        DynamicTypeBuilder::_ref_type enum_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                            create_type(enum_type_descriptor)};
+        // Add enum literals to the enum type
+        MemberDescriptor::_ref_type enum_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        enum_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        enum_member_descriptor->name("A");
+        enum_builder->add_member(enum_member_descriptor);
+        enum_member_descriptor = traits<MemberDescriptor>::make_shared();
+        enum_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        enum_member_descriptor->name("B");
+        enum_builder->add_member(enum_member_descriptor);
+        enum_member_descriptor = traits<MemberDescriptor>::make_shared();
+        enum_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        enum_member_descriptor->name("C");
+        enum_builder->add_member(enum_member_descriptor);
+        // Build the enum type
+        DynamicType::_ref_type enum_type = enum_builder->build();
+
+        // Add an enum member to the struct
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("my_enum");
+        member_descriptor->type(enum_type);
+        struct_builder->add_member(member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for an enum member
+        MyEnum in_value {MyEnum::C};
+
+        /* Alternative
+            uint32_t in_value {2}; // Selecting MyEnum::C
+        */
+
+        uint32_t out_value {0};
+        data->set_uint32_value(data->get_member_id_by_name("my_enum"), in_value);
+        data->get_uint32_value(out_value, data->get_member_id_by_name("my_enum"));
+        //!--
+    }
+    {
+        //!--CPP_BITMASK
+        // Define a struct type to contain a bitmask
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("BitmaskStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+
+        // Define the bitmask type
+        DynamicTypeBuilder::_ref_type bitmask_builder {DynamicTypeBuilderFactory::get_instance()->create_bitmask_type(8)};
+
+        /* Alternative
+            TypeDescriptor::_ref_type bitmask_type_descriptor {traits<TypeDescriptor>::make_shared()};
+            bitmask_type_descriptor->kind(TK_BITMASK);
+            bitmask_type_descriptor->name("MyBitMask");
+            bitmask_type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(
+                        TK_BOOLEAN));
+            bitmask_type_descriptor->bound().push_back(8);
+            DynamicTypeBuilder::_ref_type bitmask_builder {DynamicTypeBuilderFactory::get_instance()->create_type(
+                                                            bitmask_type_descriptor)};
+        */
+
+        // Add bitfield members to the bitmask type
+        MemberDescriptor::_ref_type bitfield_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        bitfield_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BOOLEAN));
+        bitfield_member_descriptor->name("flag0");
+        bitfield_member_descriptor->id(0);
+        bitmask_builder->add_member(bitfield_member_descriptor);
+        bitfield_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitfield_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BOOLEAN));
+        bitfield_member_descriptor->name("flag1");
+        bitmask_builder->add_member(bitfield_member_descriptor);
+        bitfield_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitfield_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BOOLEAN));
+        bitfield_member_descriptor->name("flag2");
+        bitmask_builder->add_member(bitfield_member_descriptor);
+        bitfield_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitfield_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_BOOLEAN));
+        bitfield_member_descriptor->name("flag5");
+        bitfield_member_descriptor->id(5);
+        bitmask_builder->add_member(bitfield_member_descriptor);
+        // Build the bitmask type
+        DynamicType::_ref_type bitmask_type =  bitmask_builder->build();
+
+        // Add a bitmask member to the struct
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("my_bitmask");
+        member_descriptor->type(bitmask_type);
+        struct_builder->add_member(member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for bitmask member.
+        uint8_t in_value {3}; // Setting both "flag0" and "flag1" simultaneously.
+        uint8_t out_value {0};
+        data->set_uint8_value(data->get_member_id_by_name("my_bitmask"), in_value);
+        data->get_uint8_value(out_value, data->get_member_id_by_name("my_bitmask"));
+
+        // Set and retrieve specific bitflag
+        bool in_bitflag_value = true;
+        bool out_bitflag_value = false;
+        DynamicData::_ref_type bitmask_data = data->loan_value(data->get_member_id_by_name("my_bitmask"));
+        bitmask_data->set_boolean_value(bitmask_data->get_member_id_by_name("flag5"), in_bitflag_value);
+        bitmask_data->get_boolean_value(out_bitflag_value, bitmask_data->get_member_id_by_name("flag5"));
+        //!--
+    }
+    {
+        // Type created as described in enumeration type section.
+        enum MyEnum : int32_t
+        {
+            A,
+            B,
+            C
+        };
+        DynamicType::_ref_type enum_type;
+
+        //!--CPP_TYPEDEF
+        // Define a struct type to contain the alias
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("AliasStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+
+        // Define an alias type for the enum
+        TypeDescriptor::_ref_type aliasenum_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        aliasenum_type_descriptor->kind(TK_ALIAS);
+        aliasenum_type_descriptor->name("MyAliasedEnum");
+        aliasenum_type_descriptor->base_type(enum_type);
+        DynamicTypeBuilder::_ref_type aliasenum_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                 create_type(aliasenum_type_descriptor)};
+        // Build the alias type
+        DynamicType::_ref_type aliasenum_type = aliasenum_builder->build();
+
+        // Define an alias type for a bounded string
+        TypeDescriptor::_ref_type alias_bounded_string_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        alias_bounded_string_type_descriptor->kind(TK_ALIAS);
+        alias_bounded_string_type_descriptor->name("MyAliasedBoundedString");
+        alias_bounded_string_type_descriptor->base_type(DynamicTypeBuilderFactory::get_instance()->
+                        create_string_type(100)->build());
+        DynamicTypeBuilder::_ref_type alias_bounded_string_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                  create_type(alias_bounded_string_type_descriptor)};
+        // Build the alias type for the bounded string
+        DynamicType::_ref_type alias_bounded_string_type = alias_bounded_string_builder->build();
+
+        // Define a recursive alias
+        TypeDescriptor::_ref_type recursive_alias_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        recursive_alias_type_descriptor->kind(TK_ALIAS);
+        recursive_alias_type_descriptor->name("MyRecursiveAlias");
+        recursive_alias_type_descriptor->base_type(aliasenum_type);
+        DynamicTypeBuilder::_ref_type recursive_alias_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                  create_type(recursive_alias_type_descriptor)};
+        // Build the recursive alias type
+        DynamicType::_ref_type recursive_alias_type = recursive_alias_builder->build();
+
+        // Add alias enum member to the structure
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("my_aliased_enum");
+        member_descriptor->type(aliasenum_type);
+        struct_builder->add_member(member_descriptor);
+        // Add alias bounded string member to the structure
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_aliased_bounded_string");
+        member_descriptor->type(alias_bounded_string_type);
+        struct_builder->add_member(member_descriptor);
+        // Add recursive alias member to the structure
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->name("my_recursive_alias");
+        member_descriptor->type(recursive_alias_type);
+        struct_builder->add_member(member_descriptor);
+
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for the alias enum member
+        MyEnum in_value {MyEnum::C};
+        int32_t out_value {0};
+        data->set_int32_value(data->get_member_id_by_name("my_alias_enum"), in_value);
+        data->get_int32_value(out_value, data->get_member_id_by_name("my_alias_enum"));
+        //!--
+    }
+    {
+        // Type created as described in enumeration type section.
+        DynamicType::_ref_type bitmask_type;
+
+        //!--CPP_SEQUENCES
+        // Define a struct type to contain the sequence
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("SequenceStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+
+        // Define a member for the sequence
+        MemberDescriptor::_ref_type sequence_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        sequence_member_descriptor->name("bitmask_sequence");
+        sequence_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_sequence_type(bitmask_type,
+                static_cast<uint32_t>(LENGTH_UNLIMITED))->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_SEQUENCE);
+            type_descriptor->element_type(bitmask_type);
+            type_descriptor->bound().push_back(static_cast<uint32_t>(LENGTH_UNLIMITED));
+            sequence_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(
+                    type_descriptor)->build());
+        */
+        
+        // Add the sequence member to the struct
+        struct_builder->add_member(sequence_member_descriptor);
+        
+        sequence_member_descriptor = traits<MemberDescriptor>::make_shared();
+        sequence_member_descriptor->name("short_sequence");
+        sequence_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_sequence_type(
+                    DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16), 5)->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_SEQUENCE);
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16));
+            type_descriptor->bound().push_back(5);
+            sequence_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(
+                    type_descriptor)->build());
+        */
+
+        // Add the sequence member to the struct
+        struct_builder->add_member(sequence_member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for the sequence member
+        Int16Seq in_value = {1, 2};
+        Int16Seq out_value;
+        data->set_int16_values(data->get_member_id_by_name("short_sequence"), in_value);
+        data->get_int16_values(out_value, data->get_member_id_by_name("short_sequence"));
+
+        DynamicData::_ref_type sequence_data {data->loan_value(data->get_member_id_by_name("short_sequence"))};
+        // Set the two latest possible values on the sequence
+        sequence_data->set_int16_values(3, in_value);
+        // Read every sequence value from index 1 to the end
+        sequence_data->get_int16_values(out_value, 1);
+
+        int16_t in_simple_value = 8;
+        int16_t out_simple_value;
+        sequence_data->set_int16_value(2, in_simple_value);
+        sequence_data->get_int16_value(out_simple_value, 2);
+        
+        data->return_loaned_value(sequence_data);
+        //!--
+    }
+    {
+        //!--CPP_ARRAYS
+        // Define a struct type to contain the array
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("ArrayStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+        // Define a member for the array
+        MemberDescriptor::_ref_type array_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        array_member_descriptor->name("long_array");
+        array_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_array_type(
+                    DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT32), { 2, 3, 4 })->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_ARRAY);
+            type_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT32));
+            type_descriptor->bound().push_back(2);
+            type_descriptor->bound().push_back(3);
+            type_descriptor->bound().push_back(4);
+            array_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(
+                    type_descriptor)->build());
+        */
+
+        // Add the array member to the struct
+        struct_builder->add_member(array_member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Set and retrieve values for the array member
+        Int32Seq in_value = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 23, 24};
+        Int32Seq out_value;
+        data->set_int32_values(data->get_member_id_by_name("long_array"), in_value);
+        data->get_int32_values(out_value, data->get_member_id_by_name("long_array"));
+
+        DynamicData::_ref_type array_data {data->loan_value(data->get_member_id_by_name("long_array"))};
+        // Set the two latest possible values on the array
+        Int32Seq small_in_value = {0, 1};
+        array_data->set_int32_values(22, small_in_value);
+        // Read every array value from index 1 to the end
+        array_data->get_int32_values(out_value, 1);
+
+        int32_t in_simple_value = 8;
+        int32_t out_simple_value;
+        array_data->set_int32_value(2, in_simple_value);
+        array_data->get_int32_value(out_simple_value, 2);
+        
+        data->return_loaned_value(array_data);
+        //!--
+    }
+    {
+        // Type created as described in enumeration type section.
+        DynamicType::_ref_type alias_bounded_string_type;
+
+        //!--CPP_MAPS
+        // Define a struct type to contain the map
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("MapStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                              create_type(type_descriptor)};
+        // Define a member for the map
+        MemberDescriptor::_ref_type map_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        map_member_descriptor->name("string_long_array_unbounded_map");
+        map_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_map_type(
+                DynamicTypeBuilderFactory::get_instance()->create_string_type(static_cast<uint32_t>(
+                LENGTH_UNLIMITED))->build(), alias_bounded_string_type, static_cast<uint32_t>(
+                LENGTH_UNLIMITED))->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_MAP);
+            type_descriptor->key_element_type(DynamicTypeBuilderFactory::get_instance()->create_string_type(
+                    static_cast<uint32_t>(LENGTH_UNLIMITED)->build());
+            type_descriptor->element_type(alias_bounded_string_type);
+            type_descriptor->bound().push_back(static_cast<uint32_t>(LENGTH_UNLIMITED));
+            map_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(
+                    type_descriptor)->build());
+        */
+
+        // Add the map member to the struct
+        struct_builder->add_member(map_member_descriptor);
+
+        map_member_descriptor = traits<MemberDescriptor>::make_shared();
+        map_member_descriptor->name("short_long_map");
+        map_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_map_type(
+                    DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16),
+                    DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT32), 2)->build());
+
+        /* Alternative
+            type_descriptor = traits<TypeDescriptor>::make_shared();
+            type_descriptor->kind(TK_MAP);
+            type_descriptor->key_element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16));
+            type_descriptor->element_type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT32));
+            type_descriptor->bound().push_back(2);
+            map_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_type(
+                    type_descriptor)->build());
+        */
+
+        struct_builder->add_member(map_member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
+        // Get the data loan of the map member
+        DynamicData::_ref_type map_data = data->loan_value(data->get_member_id_by_name("short_long_map"));
+
+        // Set and retrieve values for the map member
+        int32_t key {1};
+        int32_t in_value {2};
+        int32_t out_value;
+        map_data->set_int32_value(map_data->get_member_id_by_name(std::to_string(key)), in_value);
+        map_data->get_int32_value(out_value, map_data->get_member_id_by_name(std::to_string(key)));
+
+        // Return de data loan of the map member
+        data->return_loaned_value(map_data);
+        //!--
+    }
+    {
+        //!--CPP_STRUCT
+        // Create inner struct type
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(eprosima::fastdds::dds::TK_STRUCTURE);
+        type_descriptor->name("InnerStruct");
+        DynamicTypeBuilder::_ref_type builder {DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor)};
+        // Add members to the inner struct type
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        get_primitive_type(eprosima::fastdds::dds::TK_INT32));
+        member_descriptor->name("first");
+        member_descriptor->id(16);
+        builder->add_member(member_descriptor);
+        // Build the inner struct type
+        DynamicType::_ref_type inner_struct_type {builder->build()};
+
+        // Create parent struct type
+        TypeDescriptor::_ref_type parentstruct_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        parentstruct_type_descriptor->kind(TK_STRUCTURE);
+        parentstruct_type_descriptor->name("ParentStruct");
+        DynamicTypeBuilder::_ref_type parentstruct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                    create_type(parentstruct_type_descriptor)};
+        // Add members to the parent struct type
+        MemberDescriptor::_ref_type parentstruct_member {traits<MemberDescriptor>::make_shared()};
+        parentstruct_member->name("first");
+        parentstruct_member->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_FLOAT32));
+        parentstruct_builder->add_member(parentstruct_member);
+        parentstruct_member = traits<MemberDescriptor>::make_shared();
+        parentstruct_member->name("second");
+        parentstruct_member->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT64));
+        parentstruct_builder->add_member(parentstruct_member);
+        // Build the parent struct type
+        DynamicType::_ref_type parentstruct_type = parentstruct_builder->build();
+
+        // Create complex struct type
+        TypeDescriptor::_ref_type complexstruct_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        complexstruct_type_descriptor->kind(TK_STRUCTURE);
+        complexstruct_type_descriptor->name("ComplexStruct");
+        complexstruct_type_descriptor->base_type(parentstruct_type);
+        DynamicTypeBuilder::_ref_type complexstruct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                   create_type(complexstruct_type_descriptor)};
+        // Add members to the complex struct type
+        MemberDescriptor::_ref_type complexstruct_member {traits<MemberDescriptor>::make_shared()};
+        complexstruct_member->name("complex_member");
+        complexstruct_member->type(inner_struct_type);
+        complexstruct_builder->add_member(complexstruct_member);
+
+        // Build the complex struct type
+        DynamicType::_ref_type complexstruct_type = complexstruct_builder->build();
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(complexstruct_type)};
+
+        // Set and retrieve values for member of type float
+        float in_value {3.14};
+        float out_value {0.0};
+        data->set_float32_value(data->get_member_id_by_name("first"), in_value);
+        data->get_float32_value(out_value, data->get_member_id_by_name("first"));
+        //!--
+    }
+
+    {
+        // Skipped this type creation: same as primitives struct created in previous section.
+        DynamicType::_ref_type struct_type;
+
+        //!--CPP_UNION
+        // Define a struct type to contain the union
+        // Create the inner union
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_UNION);
+        type_descriptor->name("InnerUnion");
+        type_descriptor->discriminator_type(DynamicTypeBuilderFactory::get_instance()->
+                        get_primitive_type(TK_INT16));
+        DynamicTypeBuilder::_ref_type builder {DynamicTypeBuilderFactory::get_instance()->
+                                                       create_type(type_descriptor)};
+        // Add members to the inner union type
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->type(struct_type);
+        member_descriptor->name("first");
+        member_descriptor->id(16);
+        member_descriptor->label({0});
+        builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        get_primitive_type(TK_INT64));
+        member_descriptor->name("second");
+        member_descriptor->label({1});
+        member_descriptor->is_default_label(true);
+        builder->add_member(member_descriptor);
+        // Build the inner union type
+        DynamicType::_ref_type inner_union_type {builder->build()};
+
+        // Create a complex union type
+        type_descriptor = traits<TypeDescriptor>::make_shared();
+        type_descriptor->kind(TK_UNION);
+        type_descriptor->name("ComplexUnion");
+        type_descriptor->discriminator_type(DynamicTypeBuilderFactory::get_instance()->
+                        get_primitive_type(TK_INT32));
+        builder = DynamicTypeBuilderFactory::get_instance()->create_type(type_descriptor);
+        // Add members to the complex union type
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                        get_primitive_type(TK_INT32));
+        member_descriptor->name("third");
+        member_descriptor->label({0, 1});
+        builder->add_member(member_descriptor);
+        member_descriptor = traits<MemberDescriptor>::make_shared();
+        member_descriptor->type(inner_union_type);
+        member_descriptor->name("fourth");
+        member_descriptor->is_default_label(true);
+        builder->add_member(member_descriptor);
+        // Build the complex union type
+        DynamicType::_ref_type union_type {builder->build()};
+
+        // Create dynamic data based on the union type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(union_type)};
+        // Get the loan for the InnerUnion member
+        DynamicData::_ref_type union_data = data->loan_value(data->get_member_id_by_name("InnerUnion"));
+
+        // Set and retrieve values for the long long member within InnerUnion member
+        int64_t in_value {2};
+        int64_t out_value;
+        union_data->set_int64_value(union_data->get_member_id_by_name("second"), in_value);
+        union_data->get_int64_value(out_value, union_data->get_member_id_by_name("second"));
+        // Return de data loan of the member
+        data->return_loaned_value(union_data);
+        //!--
+    }
+    {
+        //!--CPP_BITSET
+        // Define a struct type to contain the bitset
+        TypeDescriptor::_ref_type struct_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        struct_type_descriptor->kind(TK_STRUCTURE);
+        struct_type_descriptor->name("BitsetStruct");
+        DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->create_type(
+                                                          struct_type_descriptor)};
+
+        // Define type for parent bitset
+        TypeDescriptor::_ref_type bitset_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        bitset_type_descriptor->kind(TK_BITSET);
+        bitset_type_descriptor->name("ParentBitSet");
+        bitset_type_descriptor->bound({3, 1, 10, 12});
+        DynamicTypeBuilder::_ref_type bitset_builder {DynamicTypeBuilderFactory::get_instance()->create_type(
+                                                          bitset_type_descriptor)};
+        // Add members to the bitset type
+        MemberDescriptor::_ref_type bitset_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        bitset_member_descriptor->name("a");
+        bitset_member_descriptor->id(0);
+        bitset_builder->add_member(bitset_member_descriptor);
+        bitset_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitset_member_descriptor->name("b");
+        bitset_member_descriptor->id(3);
+        bitset_builder->add_member(bitset_member_descriptor);
+        bitset_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitset_member_descriptor->name("c");
+        bitset_member_descriptor->id(8);
+        bitset_builder->add_member(bitset_member_descriptor);
+        bitset_member_descriptor = traits<MemberDescriptor>::make_shared();
+        bitset_member_descriptor->name("d");
+        bitset_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16));
+        bitset_member_descriptor->id(18);
+        bitset_builder->add_member(bitset_member_descriptor);
+        // Build the bitset type
+        DynamicType::_ref_type parentbitset_type = bitset_builder->build();
+
+        // Create child bitset type
+        TypeDescriptor::_ref_type childbitset_type_descriptor {traits<TypeDescriptor>::make_shared()};
+        childbitset_type_descriptor->kind(TK_BITSET);
+        childbitset_type_descriptor->name("ChildBitSet");
+        childbitset_type_descriptor->base_type(parentbitset_type);
+        childbitset_type_descriptor->bound({1, 20});
+        DynamicTypeBuilder::_ref_type childbitset_builder {DynamicTypeBuilderFactory::get_instance()->create_type(
+                                                               childbitset_type_descriptor)};
+        // Add members to the child bitset type
+        MemberDescriptor::_ref_type childbitset_member_descriptor {traits<MemberDescriptor>::make_shared()};
+        childbitset_member_descriptor->name("e");
+        childbitset_member_descriptor->id(30);
+        childbitset_builder->add_member(childbitset_member_descriptor);
+        childbitset_member_descriptor = traits<MemberDescriptor>::make_shared();
+        childbitset_member_descriptor->name("d");
+        childbitset_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_UINT32));
+        childbitset_member_descriptor->id(31);
+        childbitset_builder->add_member(childbitset_member_descriptor);
+        // Build the child bitset type
+        DynamicType::_ref_type bitset_type = childbitset_builder->build();
+
+        // Add the bitset member to the struct
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("my_bitset");
+        member_descriptor->type(bitset_type);
+        struct_builder->add_member(member_descriptor);
+        // Build the struct type
+        DynamicType::_ref_type struct_type {struct_builder->build()};
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(struct_type)};
+        // Get the loan for the bitset member
+        DynamicData::_ref_type bitset_data = data->loan_value(data->get_member_id_by_name("my_bitset"));
+
+        // Set and retrieve bitfield values 
+        int16_t in_value {2};
+        int16_t out_value;
+        bitset_data->set_int16_value(bitset_data->get_member_id_by_name("d"), in_value);
+        bitset_data->get_int16_value(out_value, bitset_data->get_member_id_by_name("d"));
+        // Return de data loan of the member
+        data->return_loaned_value(bitset_data);
+        //!--
+    }
+    {
+        //!--CPP_CUSTOM_ANNOTATION
+        // Create the structure to annotate
+        TypeDescriptor::_ref_type type_descriptor {traits<TypeDescriptor>::make_shared()};
+        type_descriptor->kind(TK_STRUCTURE);
+        type_descriptor->name("AnnotatedStruct");
+        DynamicTypeBuilder::_ref_type type_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                            create_type(type_descriptor)};
+        MemberDescriptor::_ref_type member_descriptor {traits<MemberDescriptor>::make_shared()};
+        member_descriptor->name("string_var");
+        member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->create_string_type(static_cast<uint32_t>(
+                LENGTH_UNLIMITED))->build());
+        type_builder->add_member(member_descriptor);
+
+        // Create the annotation type
+        AnnotationDescriptor::_ref_type annotation_descriptor {traits<AnnotationDescriptor>::make_shared()};
+        TypeDescriptor::_ref_type annotation_type {traits<TypeDescriptor>::make_shared()};
+        annotation_type->kind(TK_ANNOTATION);
+        annotation_type->name("MyAnnotation");
+        DynamicTypeBuilder::_ref_type annotation_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                                  create_type(annotation_type)};
+
+        // Add members to the annotation type
+        MemberDescriptor::_ref_type annotation_parameter {traits<MemberDescriptor>::make_shared()};
+        annotation_parameter->name("length");
+        annotation_parameter->type(DynamicTypeBuilderFactory::get_instance()->get_primitive_type(TK_INT16));
+        annotation_builder->add_member(annotation_parameter);
+        // Set the annotation type using the annotation descriptor
+        annotation_descriptor->type(annotation_builder->build());
+        // Set the value of the annotation
+        annotation_descriptor->set_value("length", std::to_string(5));
+        // Apply the annotation to the structure
+        type_builder->apply_annotation(annotation_descriptor);
+
+        // Reuse annotation descriptor to annotate struct member
+        annotation_descriptor = traits<AnnotationDescriptor>::make_shared();
+        annotation_descriptor->type(annotation_builder->build());
+        annotation_descriptor->set_value("length", std::to_string(10));
+
+        DynamicTypeMember::_ref_type member;
+        type_builder->get_member_by_name(member, "string_var");
+        type_builder->apply_annotation_to_member(member->get_id(), annotation_descriptor);
+        //!--
+    }
+    {
+        // Complex struct type defined previously
+        DynamicType::_ref_type complexstruct_type;
+        //!--CPP_COMPLEX_DATA
+        // Create dynamic data based on the struct type
+        DynamicData::_ref_type data {DynamicDataFactory::get_instance()->create_data(complexstruct_type)};
+
+        // Get/Set complex API (copy)
+        DynamicData::_ref_type complex_data;
+        data->get_complex_value(complex_data, data->get_member_id_by_name("complex_member"));
+        // Set data
+        int32_t in_value {10};
+        complex_data->set_int32_value(complex_data->get_member_id_by_name("first"), in_value);
+        data->set_complex_value(data->get_member_id_by_name("complex_member"), complex_data);
+
+        // Loan API
+        DynamicData::_ref_type loan_data = data->loan_value(data->get_member_id_by_name("complex_member"));
+        loan_data->set_int32_value(loan_data->get_member_id_by_name("first"), in_value);
+        int32_t out_value;
+        loan_data->get_int32_value(out_value, loan_data->get_member_id_by_name("first"));
+        data->return_loaned_value(loan_data);
+        //!--
+    }
+}
+
 void xml_profiles_examples()
 {
     {
         //XML-LOAD-APPLY-PROFILES
-        if (ReturnCode_t::RETCODE_OK ==
+        if (RETCODE_OK ==
                 DomainParticipantFactory::get_instance()->load_XML_profiles_file("my_profiles.xml"))
         {
             DomainParticipant* participant =
@@ -4550,7 +5455,7 @@ void xml_profiles_examples()
                 <?xml version=\"1.0\" encoding=\"UTF-8\" ?>\
                 <dds>\
                     <profiles xmlns=\"http://www.eprosima.com\" >\
-                        <data_writer profile_name=\"test_publisher_profile\" is_default_profile=\"true\">\
+                        <data_writer profile_name=\"test_datawriter_profile\" is_default_profile=\"true\">\
                             <qos>\
                                 <durability>\
                                     <kind>TRANSIENT_LOCAL</kind>\
@@ -4560,7 +5465,7 @@ void xml_profiles_examples()
                     </profiles>\
                 </dds>\
                 ";
-        if (ReturnCode_t::RETCODE_OK ==
+        if (RETCODE_OK ==
                 DomainParticipantFactory::get_instance()->load_XML_profiles_string(xml_profile.c_str(),
                 xml_profile.length()))
         {
@@ -4580,16 +5485,21 @@ void xml_profiles_examples()
         }
 
         // Load the XML File
-        if (ReturnCode_t::RETCODE_OK ==
+        if (RETCODE_OK ==
                 DomainParticipantFactory::get_instance()->load_XML_profiles_file("my_profiles.xml"))
         {
-            // Retrieve the an instance of MyStruct type
-            eprosima::fastrtps::types::DynamicTypeBuilder* type;
-            DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name("MyStruct", type);
-            eprosima::fastrtps::types::DynamicType_ptr my_struct_type = type->build();
+            // Retrieve instance of the desired type
+            DynamicType::_ref_type my_struct_type;
+            if (RETCODE_OK !=
+                    DomainParticipantFactory::get_instance()->get_dynamic_type_builder_from_xml_by_name(
+                    "MyStruct", my_struct_type))
+            {
+                // Error
+                return;
+            }
 
             // Register MyStruct type
-            TypeSupport my_struct_type_support(new eprosima::fastrtps::types::DynamicPubSubType(my_struct_type));
+            TypeSupport my_struct_type_support(new DynamicPubSubType(my_struct_type));
             my_struct_type_support.register_type(participant, nullptr);
         }
         else
@@ -4603,7 +5513,7 @@ void xml_profiles_examples()
     {
         std::string custom_name;
         //XML-MIX-WITH-CODE
-        if (ReturnCode_t::RETCODE_OK ==
+        if (RETCODE_OK ==
                 DomainParticipantFactory::get_instance()->load_XML_profiles_file("my_profiles.xml"))
         {
             DomainParticipantQos participant_qos;
@@ -4888,7 +5798,8 @@ void dds_transport_examples ()
         DomainParticipantQos qos;
 
         // Create a descriptor for the new transport.
-        std::shared_ptr<SharedMemTransportDescriptor> shm_transport = std::make_shared<SharedMemTransportDescriptor>();
+        std::shared_ptr<SharedMemTransportDescriptor> shm_transport =
+                std::make_shared<SharedMemTransportDescriptor>();
 
         // [OPTIONAL] ThreadSettings configuration
         shm_transport->default_reception_threads(eprosima::fastdds::rtps::ThreadSettings{-1, 0, 0, -1});
@@ -4905,7 +5816,8 @@ void dds_transport_examples ()
         DomainParticipantQos qos;
 
         // Create a descriptor for the new transport.
-        std::shared_ptr<SharedMemTransportDescriptor> shm_transport = std::make_shared<SharedMemTransportDescriptor>();
+        std::shared_ptr<SharedMemTransportDescriptor> shm_transport =
+                std::make_shared<SharedMemTransportDescriptor>();
 
         // Link the Transport Layer to the Participant.
         qos.transport().user_transports.push_back(shm_transport);
@@ -5467,7 +6379,7 @@ void dds_usecase_examples()
         //CONF_QOS_TUNING_RELIABLE_WRITER
         DataWriterQos qos;
         qos.reliable_writer_qos().times.heartbeatPeriod.seconds = 0;
-        qos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 500000000; //500 ms
+        qos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 500000000;     //500 ms
         //!--
     }
 
@@ -5753,28 +6665,38 @@ void dds_persistence_examples()
     ********************************************************************************************************/
     // Create a struct builder for a type with name "persistence_topic_type"
     const std::string topic_type_name = "persistence_topic_type";
-    eprosima::fastrtps::types::DynamicTypeBuilder_ptr struct_type_builder(
-        eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_struct_builder());
-    struct_type_builder->set_name(topic_type_name);
+
+    TypeDescriptor::_ref_type struct_type_descriptor {traits<TypeDescriptor>::make_shared()};
+    struct_type_descriptor->kind(TK_STRUCTURE);
+    struct_type_descriptor->name(topic_type_name);
+    DynamicTypeBuilder::_ref_type struct_builder {DynamicTypeBuilderFactory::get_instance()->
+                                                          create_type(struct_type_descriptor)};
 
     // The type consists of two members, and index and a message. Add members to the struct.
-    struct_type_builder->add_member(0, "index",
-            eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_uint32_type());
-    struct_type_builder->add_member(1, "message",
-            eprosima::fastrtps::types::DynamicTypeBuilderFactory::get_instance()->create_string_type());
+    MemberDescriptor::_ref_type index_member_descriptor {traits<MemberDescriptor>::make_shared()};
+    index_member_descriptor->name("index");
+    index_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                    get_primitive_type(TK_UINT32));
+    struct_builder->add_member(index_member_descriptor);
+
+    MemberDescriptor::_ref_type message_member_descriptor {traits<MemberDescriptor>::make_shared()};
+    message_member_descriptor->name("message");
+    message_member_descriptor->type(DynamicTypeBuilderFactory::get_instance()->
+                    create_string_type(static_cast<uint32_t>(LENGTH_UNLIMITED))->build());
+    struct_builder->add_member(message_member_descriptor);
 
     // Build the type
-    eprosima::fastrtps::types::DynamicType_ptr dyn_type_ptr = struct_type_builder->build();
+    DynamicType::_ref_type struct_type {struct_builder->build()};
 
     // Create type support and register the type
-    TypeSupport type_support(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type_ptr));
+    TypeSupport type_support(new DynamicPubSubType(struct_type));
     type_support.register_type(participant);
 
     // Create data sample a populate data. This is to be used when calling `writer->write()`
-    eprosima::fastrtps::types::DynamicData* dyn_helloworld;
-    dyn_helloworld = eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type_ptr);
+    DynamicData::_ref_type dyn_helloworld {DynamicDataFactory::get_instance()->create_data(struct_type)};
+
     dyn_helloworld->set_uint32_value(0, 0);
-    dyn_helloworld->set_string_value("HelloWorld", 1);
+    dyn_helloworld->set_string_value(1, "HelloWorld");
     /********************************************************************************************************
     * END CREATE TYPE AND TYPE SUPPORT
     ********************************************************************************************************/
@@ -5813,21 +6735,21 @@ class LoanableHelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataTyp
     }
 
     bool serialize(
-            void* /*data*/,
-            eprosima::fastrtps::rtps::SerializedPayload_t* /*payload*/) override
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
     {
         return true;
     }
 
     bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* /*payload*/,
-            void* /*data*/) override
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override
     {
         return true;
     }
 
     std::function<uint32_t()> getSerializedSizeProvider(
-            void* /*data*/) override
+            void* data) override
     {
         return std::function<uint32_t()>();
     }
@@ -5838,14 +6760,14 @@ class LoanableHelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataTyp
     }
 
     void deleteData(
-            void* /*data*/) override
+            void* data) override
     {
     }
 
     bool getKey(
-            void* /*data*/,
-            eprosima::fastrtps::rtps::InstanceHandle_t* /*ihandle*/,
-            bool /*force_md5*/) override
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            bool force_md5) override
     {
         return true;
     }
@@ -5928,7 +6850,7 @@ void dds_zero_copy_example()
         // Always call loan_sample() before writing a new sample.
         // This function will provide the user with a pointer to an internal buffer where the data type can be
         // prepared for sending.
-        if (ReturnCode_t::RETCODE_OK == writer->loan_sample(sample))
+        if (RETCODE_OK == writer->loan_sample(sample))
         {
             // Modify the sample data
             LoanableHelloWorld* data = static_cast<LoanableHelloWorld*>(sample);
@@ -5965,7 +6887,7 @@ void dds_zero_copy_example()
                 DataSeq data;
                 SampleInfoSeq infos;
                 // Access to the collection of data-samples and its corresponding collection of SampleInfo structures
-                while (ReturnCode_t::RETCODE_OK == reader->take(data, infos))
+                while (RETCODE_OK == reader->take(data, infos))
                 {
                     // Iterate over each LoanableCollection in the SampleInfo sequence
                     for (LoanableCollection::size_type i = 0; i < infos.length(); ++i)
@@ -6074,7 +6996,8 @@ void dds_request_reply_example_client()
     eprosima::fastdds::dds::DomainParticipantQos participant_qos;
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos(participant_qos);
 
-    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
+    DomainParticipant* participant =
+            DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
 
     TypeSupport request_type;
     TypeSupport reply_type;
@@ -6089,7 +7012,8 @@ void dds_request_reply_example_client()
     Topic* request_topic = participant->create_topic("CalculatorRequest",
                     request_type.get_type_name(), TOPIC_QOS_DEFAULT);
 
-    Topic* reply_topic = participant->create_topic("CalculatorReply", reply_type.get_type_name(), TOPIC_QOS_DEFAULT);
+    Topic* reply_topic =
+            participant->create_topic("CalculatorReply", reply_type.get_type_name(), TOPIC_QOS_DEFAULT);
 
     DataWriter* request_writer = publisher->create_datawriter(request_topic, DATAWRITER_QOS_DEFAULT);
 
@@ -6140,7 +7064,8 @@ void dds_request_reply_example_server()
     eprosima::fastdds::dds::DomainParticipantQos participant_qos;
     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->get_default_participant_qos(participant_qos);
 
-    DomainParticipant* participant = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
+    DomainParticipant* participant =
+            DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);
 
     TypeSupport request_type;
     TypeSupport reply_type;
@@ -6156,7 +7081,8 @@ void dds_request_reply_example_server()
     Topic* request_topic = participant->create_topic("CalculatorRequest",
                     request_type.get_type_name(), TOPIC_QOS_DEFAULT);
 
-    Topic* reply_topic = participant->create_topic("CalculatorReply", reply_type.get_type_name(), TOPIC_QOS_DEFAULT);
+    Topic* reply_topic =
+            participant->create_topic("CalculatorReply", reply_type.get_type_name(), TOPIC_QOS_DEFAULT);
 
     DataWriter* reply_writer = publisher->create_datawriter(reply_topic, DATAWRITER_QOS_DEFAULT);
 
@@ -6180,7 +7106,7 @@ void dds_waitset_example()
 {
     auto create_dds_application = [](std::vector<DataReader*>&, std::vector<DataWriter*>&) -> ReturnCode_t
             {
-                return ReturnCode_t::RETCODE_OK;
+                return RETCODE_OK;
             };
 
     auto destroy_dds_application = []() -> void
@@ -6203,7 +7129,7 @@ void dds_waitset_example()
                 ReturnCode_t ret_code;
                 ConditionSeq triggered_conditions;
                 ret_code = wait_set_.wait(triggered_conditions, eprosima::fastrtps::c_TimeInfinite);
-                if (ReturnCode_t::RETCODE_OK != ret_code)
+                if (RETCODE_OK != ret_code)
                 {
                     // ... handle error
                     continue;
@@ -6221,7 +7147,8 @@ void dds_waitset_example()
                         // Process status. Liveliness changed and data available are depicted as an example
                         if (changed_statuses.is_active(StatusMask::liveliness_changed()))
                         {
-                            std::cout << "Liveliness changed reported for entity " << entity->get_instance_handle() <<
+                            std::cout << "Liveliness changed reported for entity " <<
+                                entity->get_instance_handle() <<
                                 std::endl;
                         }
 
@@ -6234,7 +7161,7 @@ void dds_waitset_example()
                             DataReader* reader = static_cast<DataReader*>(entity);
 
                             // Process all the samples until no one is returned
-                            while (ReturnCode_t::RETCODE_OK == reader->take(data_seq, info_seq,
+                            while (RETCODE_OK == reader->take(data_seq, info_seq,
                                     LENGTH_UNLIMITED, ANY_SAMPLE_STATE,
                                     ANY_VIEW_STATE, ANY_INSTANCE_STATE))
                             {
@@ -6242,7 +7169,8 @@ void dds_waitset_example()
                                 for (FooSeq::size_type n = 0; n < info_seq.length(); ++n)
                                 {
                                     // Only samples with valid data should be accessed
-                                    if (info_seq[n].valid_data && reader->is_sample_valid(&data_seq[n], &info_seq[n]))
+                                    if (info_seq[n].valid_data &&
+                                            reader->is_sample_valid(&data_seq[n], &info_seq[n]))
                                     {
                                         // Process sample on data_seq[n]
                                     }
@@ -6296,7 +7224,7 @@ void dds_waitset_example()
 
     // Create the participant, topics, readers, and writers.
     ret_code = create_dds_application(application_readers, application_writers);
-    if (ReturnCode_t::RETCODE_OK != ret_code)
+    if (RETCODE_OK != ret_code)
     {
         // ... handle error
         return;
@@ -6543,9 +7471,9 @@ void pubsub_api_example_create_entities()
     //!--
 
     //PUBSUB_API_WRITE_SAMPLE
-    HelloWorld sample; //Auto-generated container class for topic data from Fast DDS-Gen
-    sample.msg("Hello there!"); // Add contents to the message
-    data_writer->write(&sample); //Publish
+    HelloWorld sample;     //Auto-generated container class for topic data from Fast DDS-Gen
+    sample.msg("Hello there!");     // Add contents to the message
+    data_writer->write(&sample);     //Publish
     //!--
 
     //PUBSUB_API_CREATE_SUBSCRIBER
@@ -6577,7 +7505,7 @@ int main(
         {
             std::string file = argv[1];
             DomainParticipantFactory* factory = DomainParticipantFactory::get_instance();
-            if (ReturnCode_t::RETCODE_OK != factory->check_xml_static_discovery(file))
+            if (RETCODE_OK != factory->check_xml_static_discovery(file))
             {
                 printf("Error parsing xml file %s\n", argv[1]);
                 exit_code = -1;
@@ -6595,7 +7523,7 @@ int main(
                     "</writer>" \
                     "</participant>" \
                     "</staticdiscovery>";
-            if (ReturnCode_t::RETCODE_OK != factory->check_xml_static_discovery(fileData))
+            if (RETCODE_OK != factory->check_xml_static_discovery(fileData))
             {
                 printf("Error parsing xml file %s\n", argv[1]);
                 exit_code = -1;
@@ -6603,8 +7531,7 @@ int main(
         }
         else
         {
-            if (ReturnCode_t::RETCODE_OK !=
-                    DomainParticipantFactory::get_instance()->load_XML_profiles_file(argv[1]))
+            if (RETCODE_OK != DomainParticipantFactory::get_instance()->load_XML_profiles_file(argv[1]))
             {
                 printf("Error parsing xml file %s\n", argv[1]);
                 exit_code = -1;
diff --git a/code/DynamicTypesIDLExamples.idl b/code/DynamicTypesIDLExamples.idl
new file mode 100644
index 000000000..1c8336c82
--- /dev/null
+++ b/code/DynamicTypesIDLExamples.idl
@@ -0,0 +1,204 @@
+//!--TYPEINFORMATION
+@extensibility(APPENDABLE) @nested
+struct TypeIdentfierWithSize
+{
+    TypeIdentifier      type_id;
+    unsigned long       typeobject_serialized_size;
+};
+
+@extensibility(APPENDABLE) @nested
+struct TypeIdentifierWithDependencies
+{
+    TypeIdentfierWithSize           typeid_with_size;
+    long                            dependent_type_id_count;
+    sequence<TypeIdentfierWithSize> dependent_typeids;
+};
+
+@extensibility(MUTABLE) @nested
+struct TypeInformation
+{
+    @id(0x1001) TypeIdentifierWithDependencies minimal;
+    @id(0x1002) TypeIdentifierWithDependencies complete;
+};
+//!--
+
+//!--TYPEOBJECT
+@extensibility(APPENDABLE) @nested
+union TypeObject switch(octet)
+{
+    case EK_COMPLETE:
+        CompleteTypeObject  complete;
+    case EK_MINIMAL:
+        MinimalTypeObject   minimal;
+};
+//!--
+
+//!--IDL_PRIMITIVES
+struct PrimitivesStruct
+{
+    boolean my_bool;
+    octet my_octet;
+    char my_char;
+    wchar my_wchar;
+    long my_long;
+    unsigned long my_ulong;
+    int8 my_int8;
+    uint8 my_uint8;
+    short my_short;
+    unsigned short my_ushort;
+    long long my_longlong;
+    unsigned long long my_ulonglong;
+    float my_float;
+    double my_double;
+    long double my_longdouble;
+};
+//!--
+
+//!--IDL_STRINGS
+struct StringsStruct
+{
+    string my_string;
+    wstring my_wstring;
+    string<41925> my_bounded_string;
+    wstring<20925> my_bounded_wstring;
+};
+//!--
+
+//!--IDL_ENUM
+enum MyEnum
+{
+    A,
+    B,
+    C
+};
+
+struct EnumStruct
+{
+    MyEnum my_enum;
+};
+//!--
+
+//!--IDL_BITMASK
+@bit_bound(8)
+bitmask MyBitMask
+{
+    @position(0) flag0,
+    flag1,
+    flag2,
+    @position(5) flag5
+};
+
+struct BitmaskStruct
+{
+    MyBitMask my_bitmask;
+};
+//!--
+
+//!--IDL_TYPEDEF
+typedef MyEnum MyAliasedEnum;
+typedef string<100> MyAliasedBoundedString;
+typedef MyAliasedEnum MyRecursiveAlias;
+
+struct AliasStruct
+{
+    MyAliasedEnum my_aliased_enum;
+    MyAliasedBoundedString my_aliased_bounded_string;
+    MyRecursiveAlias my_recursive_alias;
+};
+//!--
+
+//!--IDL_SEQUENCES
+struct SequenceStruct
+{
+    sequence<MyBitmask> bitmask_sequence;
+    sequence<short, 5> short_sequence;
+};
+//!--
+
+//!--IDL_ARRAYS
+struct ArrayStruct
+{
+    long long_array[2][3][4];
+};
+//!--
+
+//!--IDL_MAPS
+struct MapStruct
+{
+    map<string, MyAliasedBoundedString> string_alias_unbounded_map;
+    map<short, long, 2> short_long_map;
+};
+//!--
+
+//!--IDL_STRUCT
+struct InnerStruct
+{	
+    @id(0x10) long first;
+};
+
+struct ParentStruct
+{	
+    float first;
+    long long second;
+};
+
+struct ComplexStruct : ParentStruct
+{	
+    InnerStruct complex_member;
+};
+//!--
+
+//!--IDL_UNION
+union InnerUnion switch (short)
+{
+    case 0:
+        @id(0x10) PrimitivesStruct first;
+    case 1:
+    default:
+        long long second;
+};
+
+union ComplexUnion switch (long)
+{
+    case 0:
+    case 1:
+        long third;
+    default:
+        InnerUnion fourth;
+};
+//!--
+
+//!--IDL_BITSET
+bitset ParentBitSet
+{	
+    bitfield<3> a;
+    bitfield<1> b;
+    bitfield<4>;
+    bitfield<10> c;
+    bitfield<12, short> d;
+};
+
+bitset ChildBitSet : ParentBitSet
+{	
+    bitfield<1> e;
+    bitfield<20, unsigned long> f;
+};
+
+struct BitsetStruct
+{
+   ChildBitSet my_bitset;
+};
+//!--
+
+//!--IDL_CUSTOM_ANNOTATION
+@annotation MyAnnotation
+{
+    short length;
+};
+
+@MyAnnotation(length = 5)
+struct AnnotatedStruct
+{
+    @MyAnnotation(length = 10) string string_var;
+};
+//!--
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorld.cxx b/code/Examples/C++/DDSHelloWorld/src/HelloWorld.cxx
deleted file mode 100644
index 4b415d677..000000000
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorld.cxx
+++ /dev/null
@@ -1,168 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file HelloWorld.cpp
- * This source file contains the implementation of the described types in the IDL file.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#ifdef _WIN32
-// Remove linker warning LNK4221 on Visual Studio
-namespace {
-char dummy;
-}  // namespace
-#endif  // _WIN32
-
-#include "HelloWorld.h"
-
-#if FASTCDR_VERSION_MAJOR > 1
-
-#include <fastcdr/Cdr.h>
-
-
-#include <fastcdr/exceptions/BadParamException.h>
-using namespace eprosima::fastcdr::exception;
-
-#include <utility>
-
-
-
-
-HelloWorld::HelloWorld()
-{
-}
-
-HelloWorld::~HelloWorld()
-{
-}
-
-HelloWorld::HelloWorld(
-        const HelloWorld& x)
-{
-    m_index = x.m_index;
-    m_message = x.m_message;
-}
-
-HelloWorld::HelloWorld(
-        HelloWorld&& x) noexcept
-{
-    m_index = x.m_index;
-    m_message = std::move(x.m_message);
-}
-
-HelloWorld& HelloWorld::operator =(
-        const HelloWorld& x)
-{
-
-    m_index = x.m_index;
-    m_message = x.m_message;
-    return *this;
-}
-
-HelloWorld& HelloWorld::operator =(
-        HelloWorld&& x) noexcept
-{
-
-    m_index = x.m_index;
-    m_message = std::move(x.m_message);
-    return *this;
-}
-
-bool HelloWorld::operator ==(
-        const HelloWorld& x) const
-{
-    return (m_index == x.m_index &&
-           m_message == x.m_message);
-}
-
-bool HelloWorld::operator !=(
-        const HelloWorld& x) const
-{
-    return !(*this == x);
-}
-
-/*!
- * @brief This function sets a value in member index
- * @param _index New value for member index
- */
-void HelloWorld::index(
-        uint32_t _index)
-{
-    m_index = _index;
-}
-
-/*!
- * @brief This function returns the value of member index
- * @return Value of member index
- */
-uint32_t HelloWorld::index() const
-{
-    return m_index;
-}
-
-/*!
- * @brief This function returns a reference to member index
- * @return Reference to member index
- */
-uint32_t& HelloWorld::index()
-{
-    return m_index;
-}
-
-
-/*!
- * @brief This function copies the value in member message
- * @param _message New value to be copied in member message
- */
-void HelloWorld::message(
-        const std::string& _message)
-{
-    m_message = _message;
-}
-
-/*!
- * @brief This function moves the value in member message
- * @param _message New value to be moved in member message
- */
-void HelloWorld::message(
-        std::string&& _message)
-{
-    m_message = std::move(_message);
-}
-
-/*!
- * @brief This function returns a constant reference to member message
- * @return Constant reference to member message
- */
-const std::string& HelloWorld::message() const
-{
-    return m_message;
-}
-
-/*!
- * @brief This function returns a reference to member message
- * @return Reference to member message
- */
-std::string& HelloWorld::message()
-{
-    return m_message;
-}
-
-
-// Include auxiliary functions like for serializing/deserializing.
-#include "HelloWorldCdrAux.ipp"
-
-#endif // FASTCDR_VERSION_MAJOR > 1
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorld.h b/code/Examples/C++/DDSHelloWorld/src/HelloWorld.hpp
similarity index 69%
rename from code/Examples/C++/DDSHelloWorld/src/HelloWorld.h
rename to code/Examples/C++/DDSHelloWorld/src/HelloWorld.hpp
index 5cd0ddba5..971fea8d9 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorld.h
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorld.hpp
@@ -13,32 +13,19 @@
 // limitations under the License.
 
 /*!
- * @file HelloWorld.h
+ * @file HelloWorld.hpp
  * This header file contains the declaration of the described types in the IDL file.
  *
  * This file was generated by the tool fastddsgen.
  */
 
-#include <fastcdr/config.h>
-#include "HelloWorldv1.h"
+#ifndef _FAST_DDS_GENERATED_HELLOWORLD_HPP_
+#define _FAST_DDS_GENERATED_HELLOWORLD_HPP_
 
-#if FASTCDR_VERSION_MAJOR > 1
-
-#ifndef _FAST_DDS_GENERATED_HELLOWORLD_H_
-#define _FAST_DDS_GENERATED_HELLOWORLD_H_
-
-#include <array>
-#include <bitset>
 #include <cstdint>
-#include <map>
 #include <string>
-#include <vector>
-
+#include <utility>
 #include <fastcdr/cdr/fixed_size_string.hpp>
-#include <fastcdr/xcdr/external.hpp>
-#include <fastcdr/xcdr/optional.hpp>
-
-
 
 #if defined(_WIN32)
 #if defined(EPROSIMA_USER_DLL_EXPORT)
@@ -64,17 +51,6 @@
 #define HELLOWORLD_DllAPI
 #endif // _WIN32
 
-namespace eprosima {
-namespace fastcdr {
-class Cdr;
-class CdrSizeCalculator;
-} // namespace fastcdr
-} // namespace eprosima
-
-
-
-
-
 /*!
  * @brief This class represents the structure HelloWorld defined by the user in the IDL file.
  * @ingroup HelloWorld
@@ -86,73 +62,117 @@ class HelloWorld
     /*!
      * @brief Default constructor.
      */
-    eProsima_user_DllExport HelloWorld();
+    eProsima_user_DllExport HelloWorld()
+    {
+    }
 
     /*!
      * @brief Default destructor.
      */
-    eProsima_user_DllExport ~HelloWorld();
+    eProsima_user_DllExport ~HelloWorld()
+    {
+    }
 
     /*!
      * @brief Copy constructor.
      * @param x Reference to the object HelloWorld that will be copied.
      */
     eProsima_user_DllExport HelloWorld(
-            const HelloWorld& x);
+            const HelloWorld& x)
+    {
+                    m_index = x.m_index;
+
+                    m_message = x.m_message;
+
+    }
 
     /*!
      * @brief Move constructor.
      * @param x Reference to the object HelloWorld that will be copied.
      */
     eProsima_user_DllExport HelloWorld(
-            HelloWorld&& x) noexcept;
+            HelloWorld&& x) noexcept
+    {
+        m_index = x.m_index;
+        m_message = std::move(x.m_message);
+    }
 
     /*!
      * @brief Copy assignment.
      * @param x Reference to the object HelloWorld that will be copied.
      */
     eProsima_user_DllExport HelloWorld& operator =(
-            const HelloWorld& x);
+            const HelloWorld& x)
+    {
+
+                    m_index = x.m_index;
+
+                    m_message = x.m_message;
+
+        return *this;
+    }
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object HelloWorld that will be copied.
      */
     eProsima_user_DllExport HelloWorld& operator =(
-            HelloWorld&& x) noexcept;
+            HelloWorld&& x) noexcept
+    {
+
+        m_index = x.m_index;
+        m_message = std::move(x.m_message);
+        return *this;
+    }
 
     /*!
      * @brief Comparison operator.
      * @param x HelloWorld object to compare.
      */
     eProsima_user_DllExport bool operator ==(
-            const HelloWorld& x) const;
+            const HelloWorld& x) const
+    {
+        return (m_index == x.m_index &&
+           m_message == x.m_message);
+    }
 
     /*!
      * @brief Comparison operator.
      * @param x HelloWorld object to compare.
      */
     eProsima_user_DllExport bool operator !=(
-            const HelloWorld& x) const;
+            const HelloWorld& x) const
+    {
+        return !(*this == x);
+    }
 
     /*!
      * @brief This function sets a value in member index
      * @param _index New value for member index
      */
     eProsima_user_DllExport void index(
-            uint32_t _index);
+            uint32_t _index)
+    {
+        m_index = _index;
+    }
 
     /*!
      * @brief This function returns the value of member index
      * @return Value of member index
      */
-    eProsima_user_DllExport uint32_t index() const;
+    eProsima_user_DllExport uint32_t index() const
+    {
+        return m_index;
+    }
 
     /*!
      * @brief This function returns a reference to member index
      * @return Reference to member index
      */
-    eProsima_user_DllExport uint32_t& index();
+    eProsima_user_DllExport uint32_t& index()
+    {
+        return m_index;
+    }
 
 
     /*!
@@ -160,26 +180,40 @@ class HelloWorld
      * @param _message New value to be copied in member message
      */
     eProsima_user_DllExport void message(
-            const std::string& _message);
+            const std::string& _message)
+    {
+        m_message = _message;
+    }
 
     /*!
      * @brief This function moves the value in member message
      * @param _message New value to be moved in member message
      */
     eProsima_user_DllExport void message(
-            std::string&& _message);
+            std::string&& _message)
+    {
+        m_message = std::move(_message);
+    }
 
     /*!
      * @brief This function returns a constant reference to member message
      * @return Constant reference to member message
      */
-    eProsima_user_DllExport const std::string& message() const;
+    eProsima_user_DllExport const std::string& message() const
+    {
+        return m_message;
+    }
 
     /*!
      * @brief This function returns a reference to member message
      * @return Reference to member message
      */
-    eProsima_user_DllExport std::string& message();
+    eProsima_user_DllExport std::string& message()
+    {
+        return m_message;
+    }
+
+
 
 private:
 
@@ -188,8 +222,6 @@ class HelloWorld
 
 };
 
-#endif // _FAST_DDS_GENERATED_HELLOWORLD_H_
-
+#endif // _FAST_DDS_GENERATED_HELLOWORLD_HPP_
 
 
-#endif // FASTCDR_VERSION_MAJOR > 1
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.hpp b/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.hpp
index 9f346d306..6feb8a9da 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.hpp
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.hpp
@@ -22,7 +22,7 @@
 #ifndef _FAST_DDS_GENERATED_HELLOWORLDCDRAUX_HPP_
 #define _FAST_DDS_GENERATED_HELLOWORLDCDRAUX_HPP_
 
-#include "HelloWorld.h"
+#include "HelloWorld.hpp"
 
 constexpr uint32_t HelloWorld_max_cdr_typesize {268UL};
 constexpr uint32_t HelloWorld_max_key_cdr_typesize {0UL};
@@ -34,8 +34,6 @@ namespace fastcdr {
 class Cdr;
 class CdrSizeCalculator;
 
-
-
 eProsima_user_DllExport void serialize_key(
         eprosima::fastcdr::Cdr& scdr,
         const HelloWorld& data);
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.ipp b/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.ipp
index 42e91f3cc..97df3fe9d 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.ipp
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldCdrAux.ipp
@@ -34,8 +34,6 @@ using namespace eprosima::fastcdr::exception;
 namespace eprosima {
 namespace fastcdr {
 
-
-
 template<>
 eProsima_user_DllExport size_t calculate_serialized_size(
         eprosima::fastcdr::CdrSizeCalculator& calculator,
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.cxx b/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.cxx
index 85cb47789..db018e697 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.cxx
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.cxx
@@ -19,18 +19,18 @@
  * This file was generated by the tool fastddsgen.
  */
 
+#include "HelloWorldPubSubTypes.h"
 
+#include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/common/CdrSerialization.hpp>
 
-#include "HelloWorldPubSubTypes.h"
 #include "HelloWorldCdrAux.hpp"
+#include "HelloWorldTypeObjectSupport.hpp"
 
 using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
 using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
 using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
-
-
 HelloWorldPubSubType::HelloWorldPubSubType()
 {
     setName("HelloWorld");
@@ -219,3 +219,11 @@ bool HelloWorldPubSubType::getKey(
     return true;
 }
 
+void HelloWorldPubSubType::register_type_object_representation() const
+{
+    register_HelloWorld_type_objects();
+}
+
+
+// Include auxiliary functions like for serializing/deserializing.
+#include "HelloWorldCdrAux.ipp"
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.h b/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.h
index 545c68b12..a9b4ac119 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.h
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldPubSubTypes.h
@@ -29,7 +29,7 @@
 #include <fastdds/rtps/common/SerializedPayload.h>
 #include <fastdds/utils/md5.h>
 
-#include "HelloWorld.h"
+#include "HelloWorld.hpp"
 
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 2)
@@ -38,8 +38,6 @@
 #endif  // GEN_API_VER
 
 
-
-
 /*!
  * @brief This class represents the TopicDataType of the type HelloWorld defined by the user in the IDL file.
  * @ingroup HelloWorld
@@ -90,6 +88,9 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
     eProsima_user_DllExport void deleteData(
             void* data) override;
 
+    //Register TypeObject representation in Fast DDS TypeObjectRegistry
+    eProsima_user_DllExport void register_type_object_representation() const override;
+
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
     eProsima_user_DllExport inline bool is_bounded() const override
     {
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp b/code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp
index 3fdf6d13a..af659b555 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldSubscriber.cpp
@@ -75,7 +75,7 @@ class HelloWorldSubscriber
             else
             {
                 std::cout << info.current_count_change
-                        << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
+                          << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
             }
         }
 
@@ -83,13 +83,13 @@ class HelloWorldSubscriber
                 DataReader* reader) override
         {
             SampleInfo info;
-            if (reader->take_next_sample(&hello_, &info) == ReturnCode_t::RETCODE_OK)
+            if (reader->take_next_sample(&hello_, &info) == eprosima::fastdds::dds::RETCODE_OK)
             {
                 if (info.valid_data)
                 {
                     samples_++;
                     std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
-                                << " RECEIVED." << std::endl;
+                              << " RECEIVED." << std::endl;
                 }
             }
         }
@@ -98,7 +98,8 @@ class HelloWorldSubscriber
 
         std::atomic_int samples_;
 
-    } listener_;
+    }
+    listener_;
 
 public:
 
@@ -172,13 +173,14 @@ class HelloWorldSubscriber
 
     //!Run the Subscriber
     void run(
-        uint32_t samples)
+            uint32_t samples)
     {
-        while(listener_.samples_ < samples)
+        while (listener_.samples_ < samples)
         {
             std::this_thread::sleep_for(std::chrono::milliseconds(100));
         }
     }
+
 };
 
 int main(
@@ -189,7 +191,7 @@ int main(
     uint32_t samples = 10;
 
     HelloWorldSubscriber* mysub = new HelloWorldSubscriber();
-    if(mysub->init())
+    if (mysub->init())
     {
         mysub->run(samples);
     }
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx
new file mode 100644
index 000000000..bfae95694
--- /dev/null
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx
@@ -0,0 +1,248 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file HelloWorldTypeObjectSupport.cxx
+ * Source file containing the implementation to register the TypeObject representation of the described types in the IDL file
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#include "HelloWorldTypeObjectSupport.hpp"
+
+#include <mutex>
+#include <string>
+
+#include <fastcdr/xcdr/external.hpp>
+#include <fastcdr/xcdr/optional.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/log/Log.hpp>
+#include <fastdds/dds/xtypes/common.hpp>
+#include <fastdds/dds/xtypes/type_representation/ITypeObjectRegistry.hpp>
+#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
+#include <fastdds/dds/xtypes/type_representation/TypeObjectUtils.hpp>
+
+#include "HelloWorld.hpp"
+
+
+using namespace eprosima::fastdds::dds::xtypes;
+
+void register_HelloWorld_type_objects()
+{
+    static std::once_flag once_flag;
+    std::call_once(once_flag, []()
+            {
+                register_HelloWorld_type_identifier();
+
+            });
+}
+
+void register_HelloWorld_type_identifier()
+{
+    {
+        StructTypeFlag struct_flags_HelloWorld = TypeObjectUtils::build_struct_type_flag(eprosima::fastdds::dds::xtypes::ExtensibilityKind::NOT_APPLIED,
+                false, false);
+        ReturnCode_t return_code_HelloWorld;
+        TypeIdentifierPair type_ids_HelloWorld;
+        QualifiedTypeName type_name_HelloWorld = "HelloWorld";
+        eprosima::fastcdr::optional<AppliedBuiltinTypeAnnotations> type_ann_builtin_HelloWorld;
+        eprosima::fastcdr::optional<AppliedAnnotationSeq> ann_custom_HelloWorld;
+        CompleteTypeDetail detail_HelloWorld = TypeObjectUtils::build_complete_type_detail(type_ann_builtin_HelloWorld, ann_custom_HelloWorld, type_name_HelloWorld.to_string());
+        CompleteStructHeader header_HelloWorld;
+        header_HelloWorld = TypeObjectUtils::build_complete_struct_header(TypeIdentifier(), detail_HelloWorld);
+        CompleteStructMemberSeq member_seq_HelloWorld;
+        {
+            return_code_HelloWorld =
+                eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().get_type_identifiers(
+                "_uint32_t", type_ids_HelloWorld);
+
+            if (return_code_HelloWorld != eprosima::fastdds::dds::RETCODE_OK)
+            {
+                EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                        "index Structure member TypeIdentifier unknown to TypeObjectRegistry.");
+                return;
+            }
+            StructMemberFlag member_flags_index = TypeObjectUtils::build_struct_member_flag(eprosima::fastdds::dds::xtypes::TryConstructKind::NOT_APPLIED,
+                    false, false, false, false);
+            CommonStructMember common_index;
+            MemberId member_id_index = 0x00000000;
+            if (EK_COMPLETE == type_ids_HelloWorld.type_identifier1()._d() || TK_NONE == type_ids_HelloWorld.type_identifier2()._d() ||
+                    (TI_PLAIN_SEQUENCE_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().seq_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_SEQUENCE_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().seq_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().array_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().array_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_MAP_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_sdefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_sdefn().key_identifier()->_d())) ||
+                    (TI_PLAIN_MAP_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_ldefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_ldefn().key_identifier()->_d())))
+            {
+                common_index = TypeObjectUtils::build_common_struct_member(member_id_index, member_flags_index, type_ids_HelloWorld.type_identifier1());
+            }
+            else if (EK_COMPLETE == type_ids_HelloWorld.type_identifier2()._d() ||
+                    (TI_PLAIN_SEQUENCE_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().seq_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_SEQUENCE_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().seq_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().array_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().array_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_MAP_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_sdefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_sdefn().key_identifier()->_d())) ||
+                    (TI_PLAIN_MAP_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_ldefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_ldefn().key_identifier()->_d())))
+            {
+                common_index = TypeObjectUtils::build_common_struct_member(member_id_index, member_flags_index, type_ids_HelloWorld.type_identifier2());
+            }
+            else
+            {
+                EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                        "Structure index member TypeIdentifier inconsistent.");
+                return;
+            }
+            MemberName name_index = "index";
+            eprosima::fastcdr::optional<AppliedBuiltinMemberAnnotations> member_ann_builtin_index;
+            ann_custom_HelloWorld.reset();
+            CompleteMemberDetail detail_index = TypeObjectUtils::build_complete_member_detail(name_index, member_ann_builtin_index, ann_custom_HelloWorld);
+            CompleteStructMember member_index = TypeObjectUtils::build_complete_struct_member(common_index, detail_index);
+            TypeObjectUtils::add_complete_struct_member(member_seq_HelloWorld, member_index);
+        }
+        {
+            return_code_HelloWorld =
+                eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().get_type_identifiers(
+                "anonymous_string_unbounded", type_ids_HelloWorld);
+
+            if (return_code_HelloWorld != eprosima::fastdds::dds::RETCODE_OK)
+            {
+                std::string type_id_kind_anonymous_string_unbounded("TI_STRING8_SMALL");
+                if (type_id_kind_anonymous_string_unbounded == "TI_STRING8_SMALL")
+                {
+                    SBound bound = 0;
+                    StringSTypeDefn string_sdefn = TypeObjectUtils::build_string_s_type_defn(bound);
+                    if (eprosima::fastdds::dds::RETCODE_BAD_PARAMETER ==
+                            TypeObjectUtils::build_and_register_s_string_type_identifier(string_sdefn,
+                            "anonymous_string_unbounded"))
+                    {
+                        EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                            "anonymous_string_unbounded already registered in TypeObjectRegistry for a different type.");
+                    }
+                }
+                else if (type_id_kind_anonymous_string_unbounded == "TI_STRING8_LARGE")
+                {
+                    LBound bound = 255;
+                    StringLTypeDefn string_ldefn = TypeObjectUtils::build_string_l_type_defn(bound);
+                    if (eprosima::fastdds::dds::RETCODE_BAD_PARAMETER ==
+                            TypeObjectUtils::build_and_register_l_string_type_identifier(string_ldefn,
+                            "anonymous_string_unbounded"))
+                    {
+                        EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                            "anonymous_string_unbounded already registered in TypeObjectRegistry for a different type.");
+                    }
+                }
+                else
+                {
+                    EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                                "anonymous_string_unbounded: Unknown String kind.");
+                    return;
+                }
+                return_code_HelloWorld =
+                    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().get_type_identifiers(
+                    "anonymous_string_unbounded", type_ids_HelloWorld);
+                if (return_code_HelloWorld != eprosima::fastdds::dds::RETCODE_OK)
+                {
+                    EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                                "anonymous_string_unbounded: Given String TypeIdentifier unknown to TypeObjectRegistry.");
+                    return;
+                }
+            }
+            StructMemberFlag member_flags_message = TypeObjectUtils::build_struct_member_flag(eprosima::fastdds::dds::xtypes::TryConstructKind::NOT_APPLIED,
+                    false, false, false, false);
+            CommonStructMember common_message;
+            MemberId member_id_message = 0x00000001;
+            if (EK_COMPLETE == type_ids_HelloWorld.type_identifier1()._d() || TK_NONE == type_ids_HelloWorld.type_identifier2()._d() ||
+                    (TI_PLAIN_SEQUENCE_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().seq_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_SEQUENCE_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().seq_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().array_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().array_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_MAP_SMALL == type_ids_HelloWorld.type_identifier1()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_sdefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_sdefn().key_identifier()->_d())) ||
+                    (TI_PLAIN_MAP_LARGE == type_ids_HelloWorld.type_identifier1()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_ldefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier1().map_ldefn().key_identifier()->_d())))
+            {
+                common_message = TypeObjectUtils::build_common_struct_member(member_id_message, member_flags_message, type_ids_HelloWorld.type_identifier1());
+            }
+            else if (EK_COMPLETE == type_ids_HelloWorld.type_identifier2()._d() ||
+                    (TI_PLAIN_SEQUENCE_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().seq_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_SEQUENCE_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().seq_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().array_sdefn().header().equiv_kind()) ||
+                    (TI_PLAIN_ARRAY_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().array_ldefn().header().equiv_kind()) ||
+                    (TI_PLAIN_MAP_SMALL == type_ids_HelloWorld.type_identifier2()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_sdefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_sdefn().key_identifier()->_d())) ||
+                    (TI_PLAIN_MAP_LARGE == type_ids_HelloWorld.type_identifier2()._d() &&
+                    (EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_ldefn().header().equiv_kind() ||
+                    EK_COMPLETE == type_ids_HelloWorld.type_identifier2().map_ldefn().key_identifier()->_d())))
+            {
+                common_message = TypeObjectUtils::build_common_struct_member(member_id_message, member_flags_message, type_ids_HelloWorld.type_identifier2());
+            }
+            else
+            {
+                EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                        "Structure message member TypeIdentifier inconsistent.");
+                return;
+            }
+            MemberName name_message = "message";
+            eprosima::fastcdr::optional<AppliedBuiltinMemberAnnotations> member_ann_builtin_message;
+            ann_custom_HelloWorld.reset();
+            CompleteMemberDetail detail_message = TypeObjectUtils::build_complete_member_detail(name_message, member_ann_builtin_message, ann_custom_HelloWorld);
+            CompleteStructMember member_message = TypeObjectUtils::build_complete_struct_member(common_message, detail_message);
+            TypeObjectUtils::add_complete_struct_member(member_seq_HelloWorld, member_message);
+        }
+        CompleteStructType struct_type_HelloWorld = TypeObjectUtils::build_complete_struct_type(struct_flags_HelloWorld, header_HelloWorld, member_seq_HelloWorld);
+        if (eprosima::fastdds::dds::RETCODE_BAD_PARAMETER ==
+                TypeObjectUtils::build_and_register_struct_type_object(struct_type_HelloWorld, type_name_HelloWorld.to_string()))
+        {
+            EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                    "HelloWorld already registered in TypeObjectRegistry for a different type.");
+        }
+        return_code_HelloWorld =
+            eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().get_type_identifiers(
+            "HelloWorld", type_ids_HelloWorld);
+        if (return_code_HelloWorld != eprosima::fastdds::dds::RETCODE_OK)
+        {
+            EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
+                        "HelloWorld: Given Struct TypeIdentifier unknown to TypeObjectRegistry.");
+            return;
+        }
+    }
+}
+
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp
new file mode 100644
index 000000000..235326d5e
--- /dev/null
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp
@@ -0,0 +1,54 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file HelloWorldTypeObjectSupport.hpp
+ * Header file containing the API required to register the TypeObject representation of the described types in the IDL file
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_HELLOWORLD_TYPE_OBJECT_SUPPORT_HPP_
+#define _FAST_DDS_GENERATED_HELLOWORLD_TYPE_OBJECT_SUPPORT_HPP_
+
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+/**
+ * @brief Register every TypeObject representation defined in the IDL file in Fast DDS TypeObjectRegistry.
+ */
+eProsima_user_DllExport void register_HelloWorld_type_objects();
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+/**
+ * @brief Register HelloWorld related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ */
+eProsima_user_DllExport void register_HelloWorld_type_identifier();
+
+
+#endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+#endif // _FAST_DDS_GENERATED_HELLOWORLD_TYPE_OBJECT_SUPPORT_HPP_
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.cxx b/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.cxx
deleted file mode 100644
index 90e82ea88..000000000
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.cxx
+++ /dev/null
@@ -1,286 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file HelloWorld.cpp
- * This source file contains the implementation of the described types in the IDL file.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#ifdef _WIN32
-// Remove linker warning LNK4221 on Visual Studio
-namespace {
-char dummy;
-}  // namespace
-#endif  // _WIN32
-
-#include "HelloWorld.h"
-
-#if FASTCDR_VERSION_MAJOR == 1
-
-#include <fastcdr/Cdr.h>
-
-
-#include <fastcdr/exceptions/BadParamException.h>
-using namespace eprosima::fastcdr::exception;
-
-#include <utility>
-
-namespace helper { namespace internal {
-
-enum class Size {
-    UInt8,
-    UInt16,
-    UInt32,
-    UInt64,
-};
-
-constexpr Size get_size(int s) {
-    return (s <= 8 ) ? Size::UInt8:
-           (s <= 16) ? Size::UInt16:
-           (s <= 32) ? Size::UInt32: Size::UInt64;
-}
-
-template<Size s>
-struct FindTypeH;
-
-template<>
-struct FindTypeH<Size::UInt8> {
-    using type = std::uint8_t;
-};
-
-template<>
-struct FindTypeH<Size::UInt16> {
-    using type = std::uint16_t;
-};
-
-template<>
-struct FindTypeH<Size::UInt32> {
-    using type = std::uint32_t;
-};
-
-template<>
-struct FindTypeH<Size::UInt64> {
-    using type = std::uint64_t;
-};
-}
-
-template<int S>
-struct FindType {
-    using type = typename internal::FindTypeH<internal::get_size(S)>::type;
-};
-}
-
-#define HelloWorld_max_cdr_typesize 268ULL;
-
-
-
-
-HelloWorld::HelloWorld()
-{
-    // unsigned long m_index
-    m_index = 0;
-    // /type_d() m_message
-
-
-}
-
-HelloWorld::~HelloWorld()
-{
-}
-
-HelloWorld::HelloWorld(
-        const HelloWorld& x)
-{
-    m_index = x.m_index;
-
-
-    m_message = x.m_message;
-
-}
-
-HelloWorld::HelloWorld(
-        HelloWorld&& x) noexcept
-{
-    m_index = x.m_index;
-
-
-    m_message = std::move(x.m_message);
-
-}
-
-HelloWorld& HelloWorld::operator =(
-        const HelloWorld& x)
-{
-    m_index = x.m_index;
-
-
-    m_message = x.m_message;
-
-    return *this;
-}
-
-HelloWorld& HelloWorld::operator =(
-        HelloWorld&& x) noexcept
-{
-    m_index = x.m_index;
-
-
-    m_message = std::move(x.m_message);
-
-    return *this;
-}
-
-bool HelloWorld::operator ==(
-        const HelloWorld& x) const
-{
-    return (m_index == x.m_index &&
-           m_message == x.m_message);
-}
-
-bool HelloWorld::operator !=(
-        const HelloWorld& x) const
-{
-    return !(*this == x);
-}
-
-size_t HelloWorld::getMaxCdrSerializedSize(
-        size_t current_alignment)
-{
-    static_cast<void>(current_alignment);
-    return HelloWorld_max_cdr_typesize;
-}
-
-size_t HelloWorld::getCdrSerializedSize(
-        const HelloWorld& data,
-        size_t current_alignment)
-{
-    (void)data;
-    size_t initial_alignment = current_alignment;
-
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
-
-
-    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.message().size() + 1;
-
-
-    return current_alignment - initial_alignment;
-}
-
-
-void HelloWorld::serialize(
-        eprosima::fastcdr::Cdr& scdr) const
-{
-    scdr << m_index;
-
-    scdr << m_message.c_str();
-
-}
-
-void HelloWorld::deserialize(
-        eprosima::fastcdr::Cdr& dcdr)
-{
-    dcdr >> m_index;
-
-
-
-    dcdr >> m_message;
-
-
-}
-
-
-bool HelloWorld::isKeyDefined()
-{
-    return false;
-}
-
-void HelloWorld::serializeKey(
-        eprosima::fastcdr::Cdr& scdr) const
-{
-    (void) scdr;
-}
-
-/*!
- * @brief This function sets a value in member index
- * @param _index New value for member index
- */
-void HelloWorld::index(
-        uint32_t _index)
-{
-    m_index = _index;
-}
-
-/*!
- * @brief This function returns the value of member index
- * @return Value of member index
- */
-uint32_t HelloWorld::index() const
-{
-    return m_index;
-}
-
-/*!
- * @brief This function returns a reference to member index
- * @return Reference to member index
- */
-uint32_t& HelloWorld::index()
-{
-    return m_index;
-}
-
-
-/*!
- * @brief This function copies the value in member message
- * @param _message New value to be copied in member message
- */
-void HelloWorld::message(
-        const std::string& _message)
-{
-    m_message = _message;
-}
-
-/*!
- * @brief This function moves the value in member message
- * @param _message New value to be moved in member message
- */
-void HelloWorld::message(
-        std::string&& _message)
-{
-    m_message = std::move(_message);
-}
-
-/*!
- * @brief This function returns a constant reference to member message
- * @return Constant reference to member message
- */
-const std::string& HelloWorld::message() const
-{
-    return m_message;
-}
-
-/*!
- * @brief This function returns a reference to member message
- * @return Reference to member message
- */
-std::string& HelloWorld::message()
-{
-    return m_message;
-}
-
-
-
-
-#endif // FASTCDR_VERSION_MAJOR == 1
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.h b/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.h
deleted file mode 100644
index 9f6f726e0..000000000
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldv1.h
+++ /dev/null
@@ -1,244 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/*!
- * @file HelloWorld.h
- * This header file contains the declaration of the described types in the IDL file.
- *
- * This file was generated by the tool fastddsgen.
- */
-
-#include <fastcdr/config.h>
-
-#if FASTCDR_VERSION_MAJOR == 1
-
-#ifndef _FAST_DDS_GENERATED_HELLOWORLD_H_
-#define _FAST_DDS_GENERATED_HELLOWORLD_H_
-
-
-#include <fastrtps/utils/fixed_size_string.hpp>
-
-#include <array>
-#include <bitset>
-#include <cstdint>
-#include <map>
-#include <stdint.h>
-#include <string>
-#include <vector>
-
-#if defined(_WIN32)
-#if defined(EPROSIMA_USER_DLL_EXPORT)
-#define eProsima_user_DllExport __declspec( dllexport )
-#else
-#define eProsima_user_DllExport
-#endif  // EPROSIMA_USER_DLL_EXPORT
-#else
-#define eProsima_user_DllExport
-#endif  // _WIN32
-
-#if defined(_WIN32)
-#if defined(EPROSIMA_USER_DLL_EXPORT)
-#if defined(HELLOWORLD_SOURCE)
-#define HELLOWORLD_DllAPI __declspec( dllexport )
-#else
-#define HELLOWORLD_DllAPI __declspec( dllimport )
-#endif // HELLOWORLD_SOURCE
-#else
-#define HELLOWORLD_DllAPI
-#endif  // EPROSIMA_USER_DLL_EXPORT
-#else
-#define HELLOWORLD_DllAPI
-#endif // _WIN32
-
-namespace eprosima {
-namespace fastcdr {
-class Cdr;
-} // namespace fastcdr
-} // namespace eprosima
-
-
-
-
-
-/*!
- * @brief This class represents the structure HelloWorld defined by the user in the IDL file.
- * @ingroup HelloWorld
- */
-class HelloWorld
-{
-public:
-
-    /*!
-     * @brief Default constructor.
-     */
-    eProsima_user_DllExport HelloWorld();
-
-    /*!
-     * @brief Default destructor.
-     */
-    eProsima_user_DllExport ~HelloWorld();
-
-    /*!
-     * @brief Copy constructor.
-     * @param x Reference to the object HelloWorld that will be copied.
-     */
-    eProsima_user_DllExport HelloWorld(
-            const HelloWorld& x);
-
-    /*!
-     * @brief Move constructor.
-     * @param x Reference to the object HelloWorld that will be copied.
-     */
-    eProsima_user_DllExport HelloWorld(
-            HelloWorld&& x) noexcept;
-
-    /*!
-     * @brief Copy assignment.
-     * @param x Reference to the object HelloWorld that will be copied.
-     */
-    eProsima_user_DllExport HelloWorld& operator =(
-            const HelloWorld& x);
-
-    /*!
-     * @brief Move assignment.
-     * @param x Reference to the object HelloWorld that will be copied.
-     */
-    eProsima_user_DllExport HelloWorld& operator =(
-            HelloWorld&& x) noexcept;
-
-    /*!
-     * @brief Comparison operator.
-     * @param x HelloWorld object to compare.
-     */
-    eProsima_user_DllExport bool operator ==(
-            const HelloWorld& x) const;
-
-    /*!
-     * @brief Comparison operator.
-     * @param x HelloWorld object to compare.
-     */
-    eProsima_user_DllExport bool operator !=(
-            const HelloWorld& x) const;
-
-    /*!
-     * @brief This function sets a value in member index
-     * @param _index New value for member index
-     */
-    eProsima_user_DllExport void index(
-            uint32_t _index);
-
-    /*!
-     * @brief This function returns the value of member index
-     * @return Value of member index
-     */
-    eProsima_user_DllExport uint32_t index() const;
-
-    /*!
-     * @brief This function returns a reference to member index
-     * @return Reference to member index
-     */
-    eProsima_user_DllExport uint32_t& index();
-
-
-    /*!
-     * @brief This function copies the value in member message
-     * @param _message New value to be copied in member message
-     */
-    eProsima_user_DllExport void message(
-            const std::string& _message);
-
-    /*!
-     * @brief This function moves the value in member message
-     * @param _message New value to be moved in member message
-     */
-    eProsima_user_DllExport void message(
-            std::string&& _message);
-
-    /*!
-     * @brief This function returns a constant reference to member message
-     * @return Constant reference to member message
-     */
-    eProsima_user_DllExport const std::string& message() const;
-
-    /*!
-     * @brief This function returns a reference to member message
-     * @return Reference to member message
-     */
-    eProsima_user_DllExport std::string& message();
-
-
-    /*!
-    * @brief This function returns the maximum serialized size of an object
-    * depending on the buffer alignment.
-    * @param current_alignment Buffer alignment.
-    * @return Maximum serialized size.
-    */
-    eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
-            size_t current_alignment = 0);
-
-    /*!
-     * @brief This function returns the serialized size of a data depending on the buffer alignment.
-     * @param data Data which is calculated its serialized size.
-     * @param current_alignment Buffer alignment.
-     * @return Serialized size.
-     */
-    eProsima_user_DllExport static size_t getCdrSerializedSize(
-            const HelloWorld& data,
-            size_t current_alignment = 0);
-
-
-
-    /*!
-     * @brief This function serializes an object using CDR serialization.
-     * @param cdr CDR serialization object.
-     */
-    eProsima_user_DllExport void serialize(
-            eprosima::fastcdr::Cdr& cdr) const;
-
-    /*!
-     * @brief This function deserializes an object using CDR serialization.
-     * @param cdr CDR serialization object.
-     */
-    eProsima_user_DllExport void deserialize(
-            eprosima::fastcdr::Cdr& cdr);
-
-
-
-
-    /*!
-    * @brief This function tells you if the Key has been defined for this type
-    */
-    eProsima_user_DllExport static bool isKeyDefined();
-
-    /*!
-    * @brief This function serializes the key members of an object using CDR serialization.
-    * @param cdr CDR serialization object.
-    */
-    eProsima_user_DllExport void serializeKey(
-            eprosima::fastcdr::Cdr& cdr) const;
-
-
-private:
-
-    uint32_t m_index;
-    std::string m_message;
-
-};
-
-
-#endif // _FAST_DDS_GENERATED_HELLOWORLD_H_
-
-
-
-#endif // FASTCDR_VERSION_MAJOR == 1
diff --git a/code/XMLTester.xml b/code/XMLTester.xml
index 62fe84c7e..de3183646 100644
--- a/code/XMLTester.xml
+++ b/code/XMLTester.xml
@@ -1465,6 +1465,13 @@
                     <stack_size>-1</stack_size>
                 </discovery_server_thread>
 
+                <typelookup_service_thread>
+                    <scheduling_policy>-1</scheduling_policy>
+                    <priority>0</priority>
+                    <affinity>0</affinity>
+                    <stack_size>-1</stack_size>
+                </typelookup_service_thread>
+
                 <builtin_transports_reception_threads>
                     <scheduling_policy>-1</scheduling_policy>
                     <priority>0</priority>
@@ -1643,10 +1650,6 @@
 
     <mutation_tries>55</mutation_tries>
 
-    <typelookup_config>
-        <use_client>true</use_client>
-        <use_server>true</use_server>
-    </typelookup_config>
 </builtin>
 <!--><-->
 </rtps>
@@ -3893,19 +3896,6 @@
 </participant>
 <!--><-->
 
-<!-->XML_TYPELOOKUP_SERVICE_ENABLING<-->
-<participant profile_name="participant_typelookup_service_enabled">
-    <rtps>
-        <builtin>
-            <typelookup_config>
-                <use_client>true</use_client>
-                <use_server>true</use_server>
-            </typelookup_config>
-        </builtin>
-    </rtps>
-</participant>
-<!--><-->
-
 <!--XML_PROFILES_SECTION-->
 
 <!--XML_PROFILES_TRANSPORT_DESCRIPTORS-->
@@ -4309,51 +4299,135 @@
 
 <types>
 <type>
-<!-->XML-DYN-ENUM<-->
+
+<!-->XML_PRIMITIVES<-->
+<struct name="PrimitivesStruct">
+    <member name="my_bool" type="boolean"/>
+    <member name="my_octet" type="byte"/>
+    <member name="my_char" type="char8"/>
+    <member name="my_wchar" type="char16"/>
+    <member name="my_long" type="int32"/>
+    <member name="my_ulong" type="uint32"/>
+    <member name="my_int8" type="int8"/>
+    <member name="my_uint8" type="uint8"/>
+    <member name="my_short" type="int16"/>
+    <member name="my_ushort" type="uint16"/>
+    <member name="my_longlong" type="int64"/>
+    <member name="my_ulonglong" type="uint64"/>
+    <member name="my_float" type="float32"/>
+    <member name="my_double" type="float64"/>
+    <member name="my_longdouble" type="float128"/>
+</struct>
+<!--><-->
+
+<!-->XML_STRINGS<-->
+<struct name="StringsStruct">
+    <member name="my_string" type="string"/>
+    <member name="my_wstring" type="wstring"/>
+    <member name="my_bounded_string" type="string" stringMaxLength="41925"/>
+    <member name="my_bounded_wstring" type="wstring" stringMaxLength="20925"/>
+</struct>
+<!--><-->
+
+<!-->XML_ENUM<-->
 <enum name="MyEnum">
     <enumerator name="A" value="0"/>
     <enumerator name="B" value="1"/>
     <enumerator name="C"/>
 </enum>
+
+<struct name="EnumStruct">
+    <member name="my_enum" type="nonBasic" nonBasicTypeName="MyEnum"/>
+</struct>
 <!--><-->
 
-<!-->XML-TYPEDEF<-->
-<typedef name="MyAliasEnum" type="nonBasic" nonBasicTypeName="MyEnum"/>
-<typedef name="MyAliasArray" type="int32" arrayDimensions="2,2"/>
-<!--Complex map-->
-<typedef name="my_map_inner" type="int32" key_type="int32"/>
-<struct name="StructComplexMap">
-    <member name="my_complex_map" type="nonBasic" nonBasicTypeName="my_map_inner" key_type="int32" mapMaxLength="2"/>
+<!-->XML_BITMASK<-->
+<bitmask name="MyBitMask" bit_bound="8">
+    <bit_value name="flag0" position="0"/>
+    <bit_value name="flag1"/>
+    <bit_value name="flag2"/>
+    <bit_value name="flag5" position="5"/>
+</bitmask>
+
+<struct name="BitmaskStruct">
+    <member name="my_bitmask" type="nonBasic" nonBasicTypeName="MyBitMask"/>
+</struct>
+<!--><-->
+
+<!-- TODO: fix XSD -->
+<!-->XML_TYPEDEF<-->
+<typedef name="MyAliasedEnum" type="nonBasic" nonBasicTypeName="MyEnum"/>
+<!-- XSD does not allow to set bounds to aliased strings -->
+<typedef name="MyAliasedBoundedString" type="string"/>
+<typedef name="MyRecursiveAlias" type="nonBasic" nonBasicTypeName="MyAliasedEnum"/>
+
+<struct name="AliasStruct">
+    <member name="my_aliased_enum" type="nonBasic" nonBasicTypeName="MyAliasedEnum"/>
+    <member name="my_aliased_bounded_string" type="nonBasic" nonBasicTypeName="MyAliasedBoundedString"/>
+    <member name="my_recursive_alias" type="nonBasic" nonBasicTypeName="MyRecursiveAlias"/>
 </struct>
-<!--Complex sequence-->
-<typedef name="long_sequence" sequenceMaxLength="10" type="int32"/>
-<struct name="StructComplexSequence">
-    <member name="my_sequence_sequence" type="nonBasic" nonBasicTypeName="long_sequence" sequenceMaxLength="3"/>
+<!--><-->
+
+<!-->XML_SEQUENCES<-->
+<struct name="SequenceStruct">
+    <member name="bitmask_sequence" type="nonBasic" nonBasicTypeName="MyBitMask" sequenceMaxLength="-1"/>
+    <member name="short_sequence" sequenceMaxLength="5" type="int16"/>
+</struct>
+<!--><-->
+
+<!-->XML_ARRAYS<-->
+<struct name="ArrayStruct">
+    <member name="long_array" type="int32" arrayDimensions="2,3,4"/>
 </struct>
 <!--><-->
 
-<!-->XML-STRUCT<-->
-<struct name="MyStruct">
+<!-->XML_MAPS<-->
+<struct name="MapStruct">
+    <member name="string_alias_unbounded_map" type="nonBasic" nonBasicTypeName="MyAliasedBoundedString" key_type="string" mapMaxLength="-1"/>
+    <member name="short_long_map" type="int32" key_type="int16" mapMaxLength="2"/>
+</struct>
+<!--><-->
+
+<!-->XML_STRUCT<-->
+<struct name="InnerStruct">
+    <!-- XML does not support setting Member ID -->
     <member name="first" type="int32"/>
+</struct>
+
+<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
+<!-- <struct name="ParentStruct">
+    <member name="first" type="float32"/>
     <member name="second" type="int64"/>
 </struct>
+
+<struct name="ComplexStruct" baseType="ParentStruct">
+    <member name="complex_member" type="nonBasic" nonBasicTypeName="InnerStruct"/>
+</struct> -->
 <!--><-->
 
-<!-->XML-UNION<-->
-<union name="MyUnion">
-    <discriminator type="byte"/>
+<!-->XML_UNION<-->
+<union name="InnerUnion">
+    <discriminator type="int16"/>
     <case>
         <caseDiscriminator value="0"/>
+        <member name="first" type="nonBasic" nonBasicTypeName="PrimitivesStruct"/>
+    </case>
+    <case>
         <caseDiscriminator value="1"/>
-        <member name="first" type="int32"/>
+        <caseDiscriminator value="default"/>
+        <member name="second" type="int64"/>
     </case>
+</union>
+<union name="ComplexUnion">
+    <discriminator type="int32"/>
     <case>
-        <caseDiscriminator value="2"/>
-        <member name="second" type="nonBasic" nonBasicTypeName="MyStruct"/>
+        <caseDiscriminator value="0"/>
+        <caseDiscriminator value="1"/>
+        <member name="third" type="int32"/>
     </case>
     <case>
         <caseDiscriminator value="default"/>
-        <member name="third" type="nonBasic" nonBasicTypeName="int64"/>
+        <member name="fourth" type="nonBasic" nonBasicTypeName="InnerUnion"/>
     </case>
 </union>
 <!--><-->
@@ -4405,44 +4479,30 @@
 </struct>
 <!--><-->
 
-<!-->XML-BITSET<-->
-<bitset name="MyBitSet">
+<!-->XML_BITSET<-->
+<bitset name="ParentBitset">
     <bitfield name="a" bit_bound="3"/>
     <bitfield name="b" bit_bound="1"/>
     <bitfield bit_bound="4"/>
     <bitfield name="c" bit_bound="10"/>
     <bitfield name="d" bit_bound="12" type="int16"/>
 </bitset>
-<!--><-->
-<!-->XML-BITMASK<-->
-<bitmask name="MyBitMask" bit_bound="8">
-    <bit_value name="flag0" position="0"/>
-    <bit_value name="flag1"/>
-    <bit_value name="flag2" position="2"/>
-    <bit_value name="flag5" position="5"/>
-</bitmask>
-<!--><-->
-<!-->XML-BITSET-INHERIT<-->
-<bitset name="ParentBitSet">
-    <bitfield name="a" bit_bound="10"/>
-    <bitfield name="b" bit_bound="15"/>
-</bitset>
 
-<bitset name="ChildBitSet" baseType="ParentBitSet">
-    <bitfield bit_bound="1"/>
-    <bitfield bit_bound="5" type="uint16"/>
+<!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
+<!--<bitset name="ChildBitSet" baseType="ParentBitSet">
+    <bitfield name="e" bit_bound="1"/>
+    <bitfield name="f" bit_bound="20" type="uint32"/>
 </bitset>
+
+<struct name="BitsetStruct">
+    <member name="my_bitset" type="nonBasic" nonBasicTypeName="ChildBitSet"/>
+</struct>-->
 <!--><-->
-<!-->XML-STRUCT-INHERIT<-->
-<struct name="ParentStruct">
-    <member name="first" type="int32"/>
-    <member name="second" type="int64"/>
-</struct>
-<struct name="ChildStruct" baseType="ParentStruct">
-    <member name="third" type="int32"/>
-    <member name="fourth" type="int64"/>
-</struct>
+
+<!-->XML_CUSTOM_ANNOTATION<-->
+<!-- XML Types Profiles does not support defining/setting custom annotations -->
 <!--><-->
+
 </type>
 </types>
 </dds>
diff --git a/code/XMLTesterExample.xml b/code/XMLTesterExample.xml
index b9f6e1248..805cb84f4 100644
--- a/code/XMLTesterExample.xml
+++ b/code/XMLTesterExample.xml
@@ -385,10 +385,6 @@
                     <readerPayloadSize>512</readerPayloadSize>
                     <writerPayloadSize>512</writerPayloadSize>
                     <mutation_tries>55</mutation_tries>
-                    <typelookup_config>
-                        <use_client>true</use_client>
-                        <use_server>true</use_server>
-                    </typelookup_config>
                 </builtin>
 
                 <port>
@@ -477,6 +473,13 @@
                     <stack_size>-1</stack_size>
                 </discovery_server_thread>
 
+                <typelookup_service_thread>
+                    <scheduling_policy>-1</scheduling_policy>
+                    <priority>0</priority>
+                    <affinity>0</affinity>
+                    <stack_size>-1</stack_size>
+                </typelookup_service_thread>
+
                 <builtin_transports_reception_threads>
                     <scheduling_policy>-1</scheduling_policy>
                     <priority>0</priority>
@@ -988,10 +991,11 @@
                 <member name="second" type="int64"/>
             </struct>
 
-            <struct name="OtherInheritedStruct" baseType="MyStruct">
+            <!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
+            <!-- <struct name="OtherInheritedStruct" baseType="MyStruct">
                 <member name="my_enum" type="nonBasic" nonBasicTypeName="MyEnum"/>
                 <member name="my_struct" type="nonBasic" nonBasicTypeName="MyFullStruct" arrayDimensions="5"/>
-            </struct>
+            </struct> -->
 
             <union name="MyUnion1">
                 <discriminator type="byte"/>
@@ -1016,10 +1020,11 @@
                 <bitfield name="c" bit_bound="12" type="int16"/>
             </bitset>
 
-            <bitset name="OtherInheritedBitSet" baseType="MyBitSet">
+            <!-- TODO(XTypes: Fix inheritance loading from XML profile) Fast DDS#4626 -->
+            <!-- <bitset name="OtherInheritedBitSet" baseType="MyBitSet">
                 <bitfield bit_bound="8"/>
                 <bitfield bit_bound="15" type="byte"/>
-            </bitset>
+            </bitset> -->
 
             <bitmask name="MyBitMask" bit_bound="8">
                 <bit_value name="flag0" position="0"/>
diff --git a/docs/01-figures/listeners_inheritance_diagram.svg b/docs/01-figures/listeners_inheritance_diagram.svg
index b8c3a6bc3..30d1fa2fd 100644
--- a/docs/01-figures/listeners_inheritance_diagram.svg
+++ b/docs/01-figures/listeners_inheritance_diagram.svg
@@ -1,4 +1,802 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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+       pointer-events="none"
+       id="path36" />
+    <path
+       d="M 336 172.12 L 342.5 185.12 L 329.5 185.12 Z"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-miterlimit="10"
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+       id="path37" />
+    <path
+       d="M 221 317 L 221 291 L 451 291 L 451 317"
+       fill="rgb(255, 255, 255)"
+       stroke="rgb(0, 0, 0)"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path38" />
+    <path
+       d="M 221 317 L 221 331 L 451 331 L 451 317"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
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+       stroke-miterlimit="10"
+       pointer-events="none"
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+    <path
+       d="M 221 317 L 451 317"
+       fill="none"
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+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path40" />
+    <g
+       fill="rgb(0, 0, 0)"
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+       font-style="italic"
+       pointer-events="none"
+       text-anchor="middle"
+       font-size="12px"
+       id="g40">
+      <text
+         x="335.5"
+         y="308.5"
+         id="text40">PublisherListener</text>
+    </g>
+    <path
+       d="M 221 321 L 451 321"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-miterlimit="10"
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+       id="path41" />
+    <path
+       d="M 221 27 L 221 1 L 451 1 L 451 27"
+       fill="rgb(255, 255, 255)"
+       stroke="rgb(0, 0, 0)"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path42" />
+    <path
+       d="M 221 27 L 221 171 L 451 171 L 451 27"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path43" />
+    <path
+       d="M 221 27 L 451 27"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path44" />
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       font-style="italic"
+       pointer-events="none"
+       text-anchor="middle"
+       font-size="12px"
+       id="g44">
+      <text
+         x="335.5"
+         y="18.5"
+         id="text44">DataWriterListener</text>
+    </g>
+    <path
+       d="M 221 31 L 451 31"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path45" />
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-40-222-26-0)"
+       font-size="12px"
+       id="g45">
+      <text
+         x="226.5"
+         y="52.5"
+         id="text45">on_offered_incompatible_qos()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-66-222-26-0)"
+       font-size="12px"
+       id="g46">
+      <text
+         x="226.5"
+         y="78.5"
+         id="text46">on_offered_deadline_missed()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-92-222-26-0)"
+       font-size="12px"
+       id="g47">
+      <text
+         x="226.5"
+         y="104.5"
+         id="text47">on_liveliness_lost()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-118-222-26-0)"
+       font-size="12px"
+       id="g48">
+      <text
+         x="226.5"
+         y="130.5"
+         id="text48">on_publication_matched()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-144-222-26-0)"
+       font-size="12px"
+       id="g49">
+      <text
+         x="226.5"
+         y="156.5"
+         id="text49">on_unackowledged_sample_removed()</text>
+    </g>
+    <path
+       d="M 336 451 L 336 391 L 336 345.12"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
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+    <path
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+       fill="none"
+       stroke="rgb(0, 0, 0)"
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+    <path
+       d="M 221 477 L 221 451 L 421 451 L 421 477"
+       fill="rgb(255, 255, 255)"
+       stroke="rgb(0, 0, 0)"
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+       stroke-miterlimit="10"
+       pointer-events="none"
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+    <path
+       d="m 221,477 0.2892,116.23033 199.28962,0.74833 L 421,477"
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+       stroke="#000000"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path52"
+       sodipodi:nodetypes="cccc" />
+    <path
+       d="M 221 477 L 421 477"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-width="2"
+       stroke-miterlimit="10"
+       pointer-events="none"
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+    <g
+       fill="rgb(0, 0, 0)"
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+       font-style="italic"
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+       text-anchor="middle"
+       font-size="12px"
+       id="g53">
+      <text
+         x="320.5"
+         y="468.5"
+         id="text53">DomainParticipantListener</text>
+    </g>
+    <path
+       d="M 221 481 L 421 481"
+       fill="none"
+       stroke="rgb(0, 0, 0)"
+       stroke-miterlimit="10"
+       pointer-events="none"
+       id="path54" />
+    <g
+       fill="rgb(0, 0, 0)"
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+       pointer-events="none"
+       clip-path="url(#mx-clip-225-490-192-26-0)"
+       font-size="12px"
+       id="g54">
+      <text
+         x="226.5"
+         y="502.5"
+         id="text54">on_participant_discovery()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-516-192-26-0)"
+       font-size="12px"
+       id="g55">
+      <text
+         x="226.5"
+         y="528.5"
+         id="text55">onParticipantAuthentication()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-542-192-26-0)"
+       font-size="12px"
+       id="g56">
+      <text
+         x="226.5"
+         y="554.5"
+         id="text56">on_data_reader_discovery()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-568-192-26-0)"
+       font-size="12px"
+       id="g57">
+      <text
+         x="226.5"
+         y="580.5"
+         id="text57">on_data_writer_discovery()</text>
+    </g>
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-594-192-26-0)"
+       font-size="12px"
+       id="g58" />
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-620-192-26-0)"
+       font-size="12px"
+       id="g59" />
+    <g
+       fill="rgb(0, 0, 0)"
+       font-family="Helvetica"
+       pointer-events="none"
+       clip-path="url(#mx-clip-225-646-192-26-0)"
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+    <path
+       d="M 321 401 L 101 401 L 101 375.12"
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+    <path
+       d="M 471 27 L 471 1 L 671 1 L 671 27"
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+       stroke="rgb(0, 0, 0)"
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+       fill="none"
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+    <path
+       d="M 471 27 L 671 27"
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+       text-anchor="middle"
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+      <text
+         x="570.5"
+         y="18.5"
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+    </g>
+    <path
+       d="M 471 31 L 671 31"
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+      <text
+         x="476.5"
+         y="52.5"
+         id="text65">on_inconsistent_topic()</text>
+    </g>
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+</svg>
diff --git a/docs/03-exports/aliases-api.include b/docs/03-exports/aliases-api.include
index 2a50974b6..01db0ec72 100644
--- a/docs/03-exports/aliases-api.include
+++ b/docs/03-exports/aliases-api.include
@@ -128,6 +128,7 @@
 .. |DomainParticipant::delete_subscriber-api| replace:: :cpp:func:`delete_subscriber()<eprosima::fastdds::dds::DomainParticipant::delete_subscriber>`
 .. |DomainParticipant::delete_topic-api| replace:: :cpp:func:`delete_topic()<eprosima::fastdds::dds::DomainParticipant::delete_topic>`
 .. |DomainParticipant::delete_contentfilteredtopic-api| replace:: :cpp:func:`delete_contentfilteredtopic()<eprosima::fastdds::dds::DomainParticipant::delete_contentfilteredtopic>`
+.. |DomainParticipant::register_type-api| replace:: :cpp:func:`register_type()<eprosima::fastdds::dds::DomainParticipant::register_type>`
 .. |DomainParticipant::register_content_filter_factory-api| replace:: :cpp:func:`register_content_filter_factory()<eprosima::fastdds::dds::DomainParticipant::register_content_filter_factory>`
 .. |DomainParticipant::lookup_content_filter_factory-api| replace:: :cpp:func:`lookup_content_filter_factory()<eprosima::fastdds::dds::DomainParticipant::lookup_content_filter_factory>`
 .. |DomainParticipant::unregister_content_filter_factory-api| replace:: :cpp:func:`unregister_content_filter_factory()<eprosima::fastdds::dds::DomainParticipant::unregister_content_filter_factory>`
@@ -149,19 +150,20 @@
 .. |DomainParticipant::enable-monitor-service-api| replace:: :cpp:func:`enable_monitor_service()<eprosima::fastdds::dds::DomainParticipant::enable_monitor_service>`
 .. |DomainParticipant::disable-monitor-service-api| replace:: :cpp:func:`disable_monitor_service()<eprosima::fastdds::dds::DomainParticipant::disable_monitor_service>`
 
+.. |DomainParticipant::get_participant_qos_from_profile| replace:: :cpp:func:`get_participant_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_participant_qos_from_profile>`
 .. |DomainParticipantFactory-api| replace:: :cpp:class:`DomainParticipantFactory<eprosima::fastdds::dds::DomainParticipantFactory>`
+.. |DomainParticipantFactory::check_xml_static_discovery-api| replace:: :cpp:func:`DomainParticipantFactory::check_xml_static_discovery()<eprosima::fastdds::dds::DomainParticipantFactory::check_xml_static_discovery>`
 .. |DomainParticipantFactory::create_participant_with_default_profile-api| replace:: :cpp:func:`create_participant_with_default_profile()<eprosima::fastdds::dds::DomainParticipantFactory::create_participant_with_default_profile>`
 .. |DomainParticipantFactory::create_participant_with_profile-api| replace:: :cpp:func:`create_participant_with_profile()<eprosima::fastdds::dds::DomainParticipantFactory::create_participant_with_profile>`
 .. |DomainParticipantFactory::create_participant-api| replace:: :cpp:func:`create_participant()<eprosima::fastdds::dds::DomainParticipantFactory::create_participant>`
 .. |DomainParticipantFactory::delete_participant-api| replace:: :cpp:func:`delete_participant()<eprosima::fastdds::dds::DomainParticipantFactory::delete_participant>`
 .. |DomainParticipantFactory::get_default_participant_qos-api| replace:: :cpp:func:`get_default_participant_qos()<eprosima::fastdds::dds::DomainParticipantFactory::get_default_participant_qos>`
-.. |DomainParticipant::get_participant_qos_from_profile| replace:: :cpp:func:`get_participant_qos_from_profile()<eprosima::fastdds::dds::DomainParticipant::get_participant_qos_from_profile>`
+.. |DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name-api| replace:: :cpp:func:`DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name()<eprosima::fastdds::dds::DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name>`
 .. |DomainParticipantFactory::get_instance-api| replace:: :cpp:func:`get_instance()<eprosima::fastdds::dds::DomainParticipantFactory::get_instance>`
 .. |DomainParticipantFactory::load_XML_profiles_file-api| replace:: :cpp:func:`load_XML_profiles_file()<eprosima::fastdds::dds::DomainParticipantFactory::load_XML_profiles_file>`
 .. |DomainParticipantFactory::load_XML_profiles_string-api| replace:: :cpp:func:`load_XML_profiles_string()<eprosima::fastdds::dds::DomainParticipantFactory::load_XML_profiles_string>`
 .. |DomainParticipantFactory::set_default_participant_qos-api| replace:: :cpp:func:`set_default_participant_qos()<eprosima::fastdds::dds::DomainParticipantFactory::set_default_participant_qos>`
 .. |DomainParticipantFactory::set_qos-api| replace:: :cpp:func:`DomainParticipantFactory::set_qos()<eprosima::fastdds::dds::DomainParticipantFactory::set_qos>`
-.. |DomainParticipantFactory::check_xml_static_discovery-api| replace:: :cpp:func:`DomainParticipantFactory::check_xml_static_discovery()<eprosima::fastdds::dds::DomainParticipantFactory::check_xml_static_discovery>`
 
 .. |DomainParticipantFactoryQos-api| replace:: :cpp:class:`DomainParticipantFactoryQos<eprosima::fastdds::dds::DomainParticipantFactoryQos>`
 .. |DomainParticipantFactoryQos::entity_factory-api| replace:: :cpp:func:`entity_factory()<eprosima::fastdds::dds::DomainParticipantFactoryQos::entity_factory>`
@@ -170,11 +172,8 @@
 
 .. |DomainParticipantListener-api| replace:: :cpp:class:`DomainParticipantListener<eprosima::fastdds::dds::DomainParticipantListener>`
 .. |DomainParticipantListener::on_participant_discovery-api| replace:: :cpp:func:`on_participant_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_participant_discovery>`
-.. |DomainParticipantListener::on_subscriber_discovery-api| replace:: :cpp:func:`on_subscriber_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_subscriber_discovery>`
-.. |DomainParticipantListener::on_publisher_discovery-api| replace:: :cpp:func:`on_publisher_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_publisher_discovery>`
-.. |DomainParticipantListener::on_type_discovery-api| replace:: :cpp:func:`on_type_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_type_discovery>`
-.. |DomainParticipantListener::on_type_dependencies_reply-api| replace:: :cpp:func:`on_type_dependencies_reply()<eprosima::fastdds::dds::DomainParticipantListener::on_type_dependencies_reply>`
-.. |DomainParticipantListener::on_type_information_received-api| replace:: :cpp:func:`on_type_information_received()<eprosima::fastdds::dds::DomainParticipantListener::on_type_information_received>`
+.. |DomainParticipantListener::on_data_reader_discovery-api| replace:: :cpp:func:`on_data_reader_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_data_reader_discovery>`
+.. |DomainParticipantListener::on_data_writer_discovery-api| replace:: :cpp:func:`on_data_writer_discovery()<eprosima::fastdds::dds::DomainParticipantListener::on_data_writer_discovery>`
 .. |DomainParticipantListener::onParticipantAuthentication-api| replace:: :cpp:func:`onParticipantAuthentication()<eprosima::fastdds::dds::DomainParticipantListener::onParticipantAuthentication>`
 
 .. |DomainParticipantQos-api| replace:: :cpp:class:`DomainParticipantQos<eprosima::fastdds::dds::DomainParticipantQos>`
@@ -189,6 +188,7 @@
 .. |DomainParticipantQos::builtin_controllers_sender_thread-api| replace:: :cpp:func:`builtin_controllers_sender_thread()<eprosima::fastdds::dds::DomainParticipantQos::builtin_controllers_sender_thread>`
 .. |DomainParticipantQos::timed_events_thread-api| replace:: :cpp:func:`timed_events_thread()<eprosima::fastdds::dds::DomainParticipantQos::timed_events_thread>`
 .. |DomainParticipantQos::discovery_server_thread-api| replace:: :cpp:func:`discovery_server_thread()<eprosima::fastdds::dds::DomainParticipantQos::discovery_server_thread>`
+.. |DomainParticipantQos::typelookup_service_threads-api| replace:: :cpp:func:`typelookup_service_thread()<eprosima::fastdds::dds::DomainParticipantQos::typelookup_service_thread>`
 .. |DomainParticipantQos::security_log_thread-api| replace:: :cpp:func:`security_log_thread()<eprosima::fastdds::dds::DomainParticipantQos::security_log_thread>`
 .. |DomainParticipantQoS::setup_transports-api| replace:: :cpp:func:`setup_transports()<eprosima::fastdds::dds::DomainParticipantQos::setup_transports>`
 .. |DomainParticipants-api| replace:: :cpp:class:`DomainParticipants <eprosima::fastdds::dds::DomainParticipant>`
@@ -285,9 +285,6 @@
 .. |TopicQos::topic_data-api| replace:: :cpp:func:`topic_data()<eprosima::fastdds::dds::TopicQos::topic_data>`
 .. |TopicQos::TopicQos-api| replace:: :cpp:func:`TopicQos() <eprosima::fastdds::dds::TopicQos::TopicQos>`
 .. |TopicQos::transport_priority-api| replace:: :cpp:func:`transport_priority()<eprosima::fastdds::dds::TopicQos::transport_priority>`
-.. |TypeInformation-api| replace:: :cpp:class:`TypeInformation <eprosima::fastdds::dds::xtypes::TypeInformation>`
-.. |TypeObject-api| replace:: :cpp:class:`TypeObject <eprosima::fastrtps::types::TypeObject>`
-.. |TypeObjectFactory-api| replace:: :cpp:class:`TypeObjectFactory <eprosima::fastrtps::types::TypeObjectFactory>`
 .. |TypeSupport-api| replace:: :cpp:class:`TypeSupport<eprosima::fastdds::dds::TypeSupport>`
 .. |TypeSupport::is_plain-api| replace:: :cpp:func:`TypeSupport::is_plain() <eprosima::fastdds::dds::TypeSupport::is_plain>`
 .. |TypeSupport::register_type-api| replace:: :cpp:func:`register_type() <eprosima::fastdds::dds::TypeSupport::register_type>`
@@ -956,18 +953,48 @@
 
 .. |EDPStatic| replace:: :cpp:class:`EDPStatic <eprosima::fastrtps::rtps::EDPStatic>`
 
-.. |DynamicPubSubType-api| replace:: :cpp:class:`DynamicPubSubType <eprosima::fastrtps::types::DynamicPubSubType>`
-.. |DynamicPubSubTypes-api| replace:: :cpp:class:`DynamicPubSubTypes <eprosima::fastrtps::types::DynamicPubSubType>`
-.. |DynamicType-api| replace:: :cpp:class:`DynamicType <eprosima::fastrtps::types::DynamicType>`
-.. |DynamicTypes-api| replace:: :cpp:class:`DynamicTypes <eprosima::fastrtps::types::DynamicType>`
-
-.. |TypeObjectV1-api| replace:: :cpp:class:`TypeObject<eprosima::fastdds::dds::TypeObjectV1>`
-.. |TypeIdV1-api| replace:: :cpp:class:`TypeIdentifier<eprosima::fastdds::dds::TypeIdV1>`
-
-.. |TopicDataType::auto_fill_type_object-api| replace:: :cpp:func:`auto_fill_type_object<eprosima::fastdds::dds::TopicDataType::auto_fill_type_object>`
-.. |TopicDataType::auto_fill_type_information-api| replace:: :cpp:func:`auto_fill_type_information<eprosima::fastdds::dds::TopicDataType::auto_fill_type_information>`
-
-.. |DomainParticipant::register_remote_type-api| replace:: :cpp:func:`register_remote_type<eprosima::fastdds::dds::DomainParticipant::register_remote_type>`
+.. {{{ X-Types API
+.. |AnnotationDescriptor-api| replace:: :cpp:class:`AnnotationDescriptor <eprosima::fastdds::dds::AnnotationDescriptor>`
+.. |AnnotationDescriptor::set_value-api| replace:: :cpp:func:`AnnotationDescriptor::set_value() <eprosima::fastdds::dds::AnnotationDescriptor::set_value>`
+.. |DynamicData-api| replace:: :cpp:class:`DynamicData <eprosima::fastdds::dds::DynamicData>`
+.. |DynamicData::get_boolean_value| replace:: :cpp:func:`DynamicData::get_boolean_value <eprosima::fastdds::dds::DynamicData::get_boolean_value>`
+.. |DynamicData::get_complex_value| replace:: :cpp:func:`DynamicData::get_complex_value <eprosima::fastdds::dds::DynamicData::get_complex_value>`
+.. |DynamicData::get_member_id_by_name| replace:: :cpp:func:`DynamicData::get_member_id_by_name <eprosima::fastdds::dds::DynamicData::get_member_id_by_name>`
+.. |DynamicData::get_string_value| replace:: :cpp:func:`DynamicData::get_string_value <eprosima::fastdds::dds::DynamicData::get_string_value>`
+.. |DynamicData::get_wstring_value| replace:: :cpp:func:`DynamicData::get_wstring_value <eprosima::fastdds::dds::DynamicData::get_wstring_value>`
+.. |DynamicData::loan_value| replace:: :cpp:func:`DynamicData::loan_value <eprosima::fastdds::dds::DynamicData::loan_value>`
+.. |DynamicData::return_loaned_value| replace:: :cpp:func:`DynamicData::return_loaned_value <eprosima::fastdds::dds::DynamicData::return_loaned_value>`
+.. |DynamicData::set_boolean_value| replace:: :cpp:func:`DynamicData::set_boolean_value <eprosima::fastdds::dds::DynamicData::set_boolean_value>`
+.. |DynamicData::set_complex_value| replace:: :cpp:func:`DynamicData::set_complex_value <eprosima::fastdds::dds::DynamicData::set_complex_value>`
+.. |DynamicData::set_string_value| replace:: :cpp:func:`DynamicData::set_string_value <eprosima::fastdds::dds::DynamicData::set_string_value>`
+.. |DynamicData::set_wstring_value| replace:: :cpp:func:`DynamicData::set_wstring_value <eprosima::fastdds::dds::DynamicData::set_wstring_value>`
+.. |DynamicDataFactory-api| replace:: :cpp:class:`DynamicDataFactory <eprosima::fastdds::dds::DynamicDataFactory>`
+.. |DynamicPubSubType-api| replace:: :cpp:class:`DynamicPubSubType <eprosima::fastdds::dds::DynamicPubSubType>`
+.. |DynamicType-api| replace:: :cpp:class:`DynamicType <eprosima::fastdds::dds::DynamicType>`
+.. |DynamicTypeBuilder-api| replace:: :cpp:class:`DynamicTypeBuilder <eprosima::fastdds::dds::DynamicTypeBuilder>`
+.. |DynamicTypeBuilder::add_member| replace:: :cpp:func:`DynamicTypeBuilder::add_member <eprosima::fastdds::dds::DynamicTypeBuilder::add_member>`
+.. |DynamicTypeBuilder::apply_annotation_to_member| replace:: :cpp:func:`DynamicTypeBuilder::apply_annotation_to_member <eprosima::fastdds::dds::DynamicTypeBuilder::apply_annotation_to_member>`
+.. |DynamicTypeBuilder::apply_annotation| replace:: :cpp:func:`DynamicTypeBuilder::apply_annotation <eprosima::fastdds::dds::DynamicTypeBuilder::apply_annotation>`
+.. |DynamicTypeBuilder::build| replace:: :cpp:func:`DynamicTypeBuilder::build <eprosima::fastdds::dds::DynamicTypeBuilder::build>`
+.. |DynamicTypeBuilderFactory-api| replace:: :cpp:class:`DynamicTypeBuilderFactory <eprosima::fastdds::dds::DynamicTypeBuilderFactory>`
+.. |DynamicTypeBuilderFactory::create_array_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_array_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_array_type>`
+.. |DynamicTypeBuilderFactory::create_bitmask_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_bitmask_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_bitmask_type>`
+.. |DynamicTypeBuilderFactory::create_map_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_map_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_map_type>`
+.. |DynamicTypeBuilderFactory::create_sequence_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_sequence_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_sequence_type>`
+.. |DynamicTypeBuilderFactory::create_string_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_string_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_string_type>`
+.. |DynamicTypeBuilderFactory::create_type_w_type_object| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_type_w_type_object <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_type_w_type_object>`
+.. |DynamicTypeBuilderFactory::create_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_type>`
+.. |DynamicTypeBuilderFactory::create_wstring_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::create_wstring_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::create_wstring_type>`
+.. |DynamicTypeBuilderFactory::get_primitive_type| replace:: :cpp:func:`DynamicTypeBuilderFactory::get_primitive_type <eprosima::fastdds::dds::DynamicTypeBuilderFactory::get_primitive_type>`
+.. |DynamicTypeMember-api| replace:: :cpp:class:`DynamicTypeMember <eprosima::fastdds::dds::DynamicTypeMember>`
+.. |MemberDescriptor-api| replace:: :cpp:class:`MemberDescriptor <eprosima::fastdds::dds::MemberDescriptor>`
+.. |TypeDescriptor-api| replace:: :cpp:class:`TypeDescriptor <eprosima::fastdds::dds::TypeDescriptor>`
+.. |VerbatimTextDescriptor-api| replace:: :cpp:class:`VerbatimTextDescriptor <eprosima::fastdds::dds::VerbatimTextDescriptor>`
+
+.. |ITypeObjectRegistry-api| replace:: :cpp:class:`ITypeObjectRegistry <eprosima::fastdds::dds::xtypes::ITypeObjectRegistry>`
+.. |ITypeObjectRegistry::get_type_object| replace:: :cpp:func:`ITypeObjectRegistry::get_type_object <eprosima::fastdds::dds::xtypes::ITypeObjectRegistry::get_type_object>`
+.. |TypeObjectUtils-api| replace:: :cpp:class:`TypeObjectUtils <eprosima::fastdds::dds::xtypes::TypeObjectUtils>`
+.. }}}
 
 .. |DomainParticipant::set_listener-api| replace:: :cpp:func:`DomainParticipant::set_listener()<eprosima::fastdds::dds::DomainParticipant::set_listener>`
 .. |Publisher::set_listener-api| replace:: :cpp:func:`Publisher::set_listener()<eprosima::fastdds::dds::Publisher::set_listener>`
@@ -1003,7 +1030,6 @@
 .. |STATISTICS_DATAREADER_QOS-api| replace:: :cpp:member:`STATISTICS_DATAREADER_QOS <eprosima::fastdds::statistics::dds::STATISTICS_DATAREADER_QOS>`
 .. |STATISTICS_DATAWRITER_QOS-api| replace:: :cpp:member:`STATISTICS_DATAWRITER_QOS <eprosima::fastdds::statistics::dds::STATISTICS_DATAWRITER_QOS>`
 
-.. |DDSEntityStatus-api| replace:: :cpp:class:`DDSEntityStatus <eprosima::fastdds::statistics::rtps::DDSEntityStatus>`
 .. |MonitorServiceDataReaderQos-api| replace:: :cpp:class:`MonitorServiceDataReaderQos <eprosima::fastdds::statistics::dds::MonitorServiceDataReaderQos>`
 
 .. |RTPSMessageGroup| replace:: :cpp:class:`RTPSMessageGroup <eprosima::fastrtps::rtps::RTPSMessageGroup>`
diff --git a/docs/03-exports/aliases.include b/docs/03-exports/aliases.include
index eed1b2adb..219fea8a2 100644
--- a/docs/03-exports/aliases.include
+++ b/docs/03-exports/aliases.include
@@ -16,14 +16,17 @@
 .. |domain| replace:: :ref:`domain<dds_layer_domain>`
 .. |DomainParticipant| replace:: :ref:`DomainParticipant<dds_layer_domainParticipant>`
 .. |DomainParticipantFactory| replace:: :ref:`DomainParticipantFactory<dds_layer_domainparticipantfactory>`
+.. |DomainParticipantListener| replace:: :ref:`DomainParticipantListener<dds_layer_domainParticipantListener>`
 .. |DomainParticipantQos| replace:: :ref:`DomainParticipantQos<dds_layer_domainParticipantQos>`
 .. |DomainParticipants| replace:: :ref:`DomainParticipants<dds_layer_domainParticipant>`
 .. |domains| replace:: :ref:`domains<dds_layer_domain>`
 .. |DurabilityQosPolicy| replace:: :ref:`DurabilityQosPolicy<durabilityqospolicy>`
 .. |DurabilityServiceQosPolicy| replace:: :ref:`DurabilityServiceQosPolicy<durabilityserviceqospolicy>`
+.. |DynamicTypes| replace:: :ref:`Dynamic Language Binding<xtypes_language_binding>`
 .. |Entities| replace:: :ref:`Entities<dds_layer_core_entity>`
 .. |Entity| replace:: :ref:`Entity<dds_layer_core_entity>`
 .. |EntityFactoryQosPolicy| replace:: :ref:`EntityFactoryQosPolicy<entityfactoryqospolicy>`
+.. |Fast DDS-Gen| replace:: :ref:`Fast DDS-Gen<fastddsgen_intro>`
 .. |FlowControllersQos| replace:: :ref:`FlowControllersQos<flowcontrollersqos>`
 .. |GroupDataQosPolicy| replace:: :ref:`GroupDataQosPolicy<groupqospolicy>`
 .. |HistoryQosPolicy| replace:: :ref:`HistoryQosPolicy<historyqospolicy>`
@@ -33,6 +36,7 @@
 .. |LivelinessChangedStatus| replace:: :ref:`LivelinessChangedStatus<dds_layer_core_status_livelinessChangedStatus>`
 .. |LivelinessLostStatus| replace:: :ref:`LivelinessLostStatus<dds_layer_core_status_livelinessLostStatus>`
 .. |LivelinessQosPolicy| replace:: :ref:`LivelinessQosPolicy<livelinessqospolicy>`
+.. |MemoryManagementPolicy| replace:: :ref:`MemoryManagementPolicy<memorymanagementpolicy>`
 .. |OfferedDeadlineMissedStatus| replace:: :ref:`OfferedDeadlineMissedStatus<dds_layer_core_status_offeredDeadlineMissedStatus>`
 .. |OfferedIncompatibleQosStatus| replace:: :ref:`OfferedIncompatibleQosStatus<dds_layer_core_status_offeredIncompatibleQosStatus>`
 .. |OwnershipQosPolicy| replace:: :ref:`OwnershipQosPolicy<ownershipqospolicy>`
@@ -59,14 +63,19 @@
 .. |SampleInfo| replace:: :ref:`SampleInfo<dds_layer_subscriber_sampleInfo>`
 .. |SampleLostStatus| replace:: :ref:`SampleLostStatus<dds_layer_core_status_sampleLostStatus>`
 .. |SampleRejectedStatus| replace:: :ref:`SampleRejectedStatus<dds_layer_core_status_sampleRejectedStatus>`
+.. |StatisticsDomainParticipant| replace:: :ref:`Statistics Domain Participant<statistics_domainparticipant>`
+.. |StatisticsQosTroubleshooting| replace:: :ref:`Statistics QoS Troubleshooting<statistics_troubleshooting>`
 .. |Subscriber| replace:: :ref:`Subscriber<dds_layer_subscriber_subscriber>`
 .. |SubscriberListener| replace:: :ref:`SubscriberListener<dds_layer_subscriber_subscriberListener>`
 .. |SubscriberQos| replace:: :ref:`SubscriberQos<dds_layer_subscriber_subscriberQos>`
 .. |Subscribers| replace:: :ref:`Subscribers<dds_layer_subscriber_subscriber>`
 .. |SubscriptionMatchedStatus| replace:: :ref:`SubscriptionMatchedStatus<dds_layer_core_status_subscriptionMatchedStatus>`
+.. |ThreadSettings| replace:: :ref:`ThreadSettings<threadsettingsqos>`
 .. |TimeBasedFilterQosPolicy| replace:: :ref:`RTPSEndpointTimeBasedFilterQosPolicy<timebasedfilterqospolicy>`
 .. |Topic| replace:: :ref:`Topic<dds_layer_topic>`
 .. |TopicDataQosPolicy| replace:: :ref:`TopicDataQosPolicy<topicdataqospolicy>`
+.. |TopicDataType| replace:: :ref:`TopicDataType<dds_layer_definition_data_types>`
+.. |TopicDataTypes| replace:: :ref:`TopicDataTypes<dds_layer_definition_data_types>`
 .. |TopicListener| replace:: :ref:`TopicListener<dds_layer_topic_topicListener>`
 .. |TopicQos| replace:: :ref:`TopicQos<dds_layer_topic_topicQos>`
 .. |Topics| replace:: :ref:`Topics<dds_layer_topic>`
@@ -74,58 +83,10 @@
 .. |TransportPriorityQosPolicy| replace:: :ref:`TransportPriorityQosPolicy<transportpriorityqospolicy>`
 .. |TypeConsistencyEnforcementQosPolicy| replace:: :ref:`TypeConsistencyEnforcementQosPolicy<typeconsistencyenforcementqospolicy>`
 .. |TypeConsistencyQos| replace:: :ref:`TypeConsistencyQos<typeconsistencyqos>`
+.. |TypeInformation| replace:: :ref:`TypeInformation<xtypes_discovery_matching>`
+.. |TypeObject| replace:: :ref:`TypeObject representation<xtypes_discovery_matching>`
 .. |UserDataQosPolicy| replace:: :ref:`UserDataQosPolicy<userdataqospolicy>`
+.. |whitelist| replace:: :ref:`Whitelist <whitelist-interfaces>`
 .. |WireProtocolConfigQos| replace:: :ref:`WireProtocolConfigQos<wireprotocolconfigqos>`
 .. |WriterDataLifecycleQosPolicy| replace:: :ref:`WriterDataLifecycleQosPolicy<writerdatalifecycleqospolicy>`
 .. |WriterResourceLimitsQos| replace:: :ref:`WriterResourceLimitsQos<writerresourcelimitsqos>`
-.. |DomainParticipantListener| replace:: :ref:`DomainParticipantListener<dds_layer_domainParticipantListener>`
-.. |whitelist| replace:: :ref:`Whitelist <whitelist-interfaces>`
-.. |MemoryManagementPolicy| replace:: :ref:`MemoryManagementPolicy<memorymanagementpolicy>`
-
-.. |DynamicType| replace:: :ref:`dynamictypes_overview_dynamictype`
-.. |DynamicTypes| replace:: :ref:`dynamictypes_overview_dynamictype`
-.. |DynamicTypeBuilderFactory| replace:: :ref:`dynamictypes_overview_dynamictypebuilderfactory`
-.. |DynamicTypeBuilder| replace:: :ref:`dynamictypes_overview_dynamictypebuilder`
-.. |TypeDescriptor| replace:: :ref:`dynamictypes_overview_typedescriptor`
-.. |DynamicTypeMember| replace:: :ref:`dynamictypes_overview_dynamictypemember`
-.. |MemberDescriptor| replace:: :ref:`dynamictypes_overview_memberdescriptor`
-.. |DynamicData| replace:: :ref:`dynamictypes_overview_dynamicdata`
-.. |DynamicDataFactory| replace:: :ref:`dynamictypes_overview_dynamicdatafactory`
-.. |DynamicPubSubType| replace:: :ref:`dynamictypes_overview_dynamicpubsubtype`
-
-.. |Supported Types| replace:: :ref:`dynamictypes_supportedtypes`
-.. |Primitive Types| replace:: :ref:`dynamictypes_supportedtypes_primitive`
-.. |String and WString| replace:: :ref:`dynamictypes_supportedtypes_string`
-.. |Alias| replace:: :ref:`dynamictypes_supportedtypes_alias`
-.. |Enumeration| replace:: :ref:`dynamictypes_supportedtypes_enumeration`
-.. |Bitmask| replace:: :ref:`dynamictypes_supportedtypes_bitmask`
-.. |Structure| replace:: :ref:`dynamictypes_supportedtypes_structure`
-.. |Bitset| replace:: :ref:`dynamictypes_supportedtypes_bitset`
-.. |Union| replace:: :ref:`dynamictypes_supportedtypes_union`
-.. |Sequence| replace:: :ref:`dynamictypes_supportedtypes_sequence`
-.. |Array| replace:: :ref:`dynamictypes_supportedtypes_array`
-.. |Map| replace:: :ref:`dynamictypes_supportedtypes_map`
-
-.. |Memory management| replace:: :ref:`dynamictypes_memorymanagement`
-
-.. |Complex Types| replace:: :ref:`dynamictypes_complextypes`
-
-.. |Nested structures| replace:: :ref:`dynamictypes_complextypes_nestedstructures`
-.. |Structure inheritance| replace:: :ref:`dynamictypes_complextypes_inheritance`
-.. |Alias of an alias| replace:: :ref:`dynamictypes_complextypes_aliasalias`
-.. |Unions with complex types| replace:: :ref:`dynamictypes_complextypes_complexunions`
-
-.. |TypeObject| replace:: :ref:`dynamictypes_discovery_typeobject`
-.. |TypeInformation| replace:: :ref:`dynamictypes_discovery_typeinformation`
-.. |TypeIdentifier| replace:: :ref:`dynamictypes_discovery_typeidentifier`
-.. |TypeObjectFactory| replace:: :ref:`dynamictypes_discovery_typeobjectfactory`
-
-.. |TopicDataType| replace:: :ref:`TopicDataType<dds_layer_definition_data_types>`
-.. |TopicDataTypes| replace:: :ref:`TopicDataTypes<dds_layer_definition_data_types>`
-
-.. |Fast DDS-Gen| replace:: :ref:`Fast DDS-Gen<fastddsgen_intro>`
-
-.. |StatisticsDomainParticipant| replace:: :ref:`Statistics Domain Participant<statistics_domainparticipant>`
-.. |StatisticsQosTroubleshooting| replace:: :ref:`Statistics QoS Troubleshooting<statistics_troubleshooting>`
-
-.. |ThreadSettings| replace:: :ref:`ThreadSettings<threadsettingsqos>`
diff --git a/docs/fastdds/api_reference/dds_pim/dds_pim.rst b/docs/fastdds/api_reference/dds_pim/dds_pim.rst
index a2aab192f..d5c54eaa5 100644
--- a/docs/fastdds/api_reference/dds_pim/dds_pim.rst
+++ b/docs/fastdds/api_reference/dds_pim/dds_pim.rst
@@ -12,3 +12,4 @@ Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform I
    /fastdds/api_reference/dds_pim/publisher/publisher.rst
    /fastdds/api_reference/dds_pim/subscriber/subscriber.rst
    /fastdds/api_reference/dds_pim/topic/topic.rst
+   /fastdds/api_reference/dds_pim/xtypes/xtypes.rst
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topic.rst b/docs/fastdds/api_reference/dds_pim/topic/topic.rst
index 572856bb2..47be1cca3 100644
--- a/docs/fastdds/api_reference/dds_pim/topic/topic.rst
+++ b/docs/fastdds/api_reference/dds_pim/topic/topic.rst
@@ -12,6 +12,4 @@ Topic
    /fastdds/api_reference/dds_pim/topic/icontentfilterfactory.rst
    /fastdds/api_reference/dds_pim/topic/topiclistener.rst
    /fastdds/api_reference/dds_pim/topic/topicqos.rst
-   /fastdds/api_reference/dds_pim/topic/typeidv1.rst
    /fastdds/api_reference/dds_pim/topic/typeinformation.rst
-   /fastdds/api_reference/dds_pim/topic/typeobjectv1.rst
diff --git a/docs/fastdds/api_reference/dds_pim/topic/typeidv1.rst b/docs/fastdds/api_reference/dds_pim/topic/typeidv1.rst
deleted file mode 100644
index 2655ed432..000000000
--- a/docs/fastdds/api_reference/dds_pim/topic/typeidv1.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-.. _api_pim_typeidv1:
-
-.. rst-class:: api-ref
-
-TypeIdV1
---------
-
-.. doxygenclass:: eprosima::fastdds::dds::TypeIdV1
-    :project: FastDDS
-    :members:
-
diff --git a/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst b/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst
index 03510e602..6abd01d44 100644
--- a/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst
+++ b/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst
@@ -1,10 +1,10 @@
-.. _api_pim_typeinformation:
+.. _api_pim_typeinformationparameter:
 
 .. rst-class:: api-ref
 
-TypeInformation
----------------
+TypeInformationParameter
+------------------------
 
-.. doxygenclass:: eprosima::fastdds::dds::xtypes::TypeInformation
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::TypeInformationParameter
     :project: FastDDS
     :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/typeobjectv1.rst b/docs/fastdds/api_reference/dds_pim/topic/typeobjectv1.rst
deleted file mode 100644
index 5f7915b70..000000000
--- a/docs/fastdds/api_reference/dds_pim/topic/typeobjectv1.rst
+++ /dev/null
@@ -1,11 +0,0 @@
-.. _api_pim_typeobjectv1:
-
-.. rst-class:: api-ref
-
-TypeObjectV1
-------------
-
-.. doxygenclass:: eprosima::fastdds::dds::TypeObjectV1
-    :project: FastDDS
-    :members:
-
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
new file mode 100644
index 000000000..64f66e71f
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_annotationdescriptor:
+
+.. rst-class:: api-ref
+
+AnnotationDescriptor
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::AnnotationDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
new file mode 100644
index 000000000..7288a4e8d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
@@ -0,0 +1,18 @@
+.. _dynamic_language_binding_api:
+
+Dynamic Language Binding
+========================
+
+.. toctree::
+
+   /fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
+   /fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
new file mode 100644
index 000000000..64d3d702c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicdata:
+
+.. rst-class:: api-ref
+
+DynamicData
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicData
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
new file mode 100644
index 000000000..e0408be62
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicdatafactory:
+
+.. rst-class:: api-ref
+
+DynamicDataFactory
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicDataFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
new file mode 100644
index 000000000..5ebf38037
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicpubsubtype:
+
+.. rst-class:: api-ref
+
+DynamicPubSubType
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicPubSubType
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
new file mode 100644
index 000000000..e3d2372fe
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictype:
+
+.. rst-class:: api-ref
+
+DynamicType
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicType
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
new file mode 100644
index 000000000..15a1e81f8
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypebuilder:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilder
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeBuilder
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
new file mode 100644
index 000000000..6154157ab
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypebuilderfactory:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilderFactory
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeBuilderFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
new file mode 100644
index 000000000..8420d99d4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypemember:
+
+.. rst-class:: api-ref
+
+DynamicTypeMember
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeMember
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst b/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst
new file mode 100644
index 000000000..a34d10c67
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_xtypes_exception:
+
+.. rst-class:: api-ref
+
+InvalidArgumentError
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::InvalidArgumentError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
new file mode 100644
index 000000000..fb3f00386
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_memberdescriptor:
+
+.. rst-class:: api-ref
+
+MemberDescriptor
+----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::MemberDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst b/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst
new file mode 100644
index 000000000..18299eaf9
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst
@@ -0,0 +1,7 @@
+Type Representation
+===================
+
+.. toctree::
+
+   /fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
+   /fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
new file mode 100644
index 000000000..f50a520b5
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typedescriptor:
+
+.. rst-class:: api-ref
+
+TypeDescriptor
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TypeDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
new file mode 100644
index 000000000..dd1524712
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeobjectregistry:
+
+.. rst-class:: api-ref
+
+TypeObjectRegistry
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::ITypeObjectRegistry
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
new file mode 100644
index 000000000..abae4cbe1
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeobjectutils:
+
+.. rst-class:: api-ref
+
+TypeObjectUtils
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::TypeObjectUtils
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
new file mode 100644
index 000000000..711a590bd
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_verbatimtextdescriptor:
+
+.. rst-class:: api-ref
+
+VerbatimTextDescriptor
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::VerbatimTextDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst b/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst
new file mode 100644
index 000000000..60a0b16ad
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst
@@ -0,0 +1,8 @@
+XTypes
+======
+
+.. toctree::
+
+   /fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
+   /fastdds/api_reference/dds_pim/xtypes/exception.rst
+   /fastdds/api_reference/dds_pim/xtypes/type_representation.rst
diff --git a/docs/fastdds/api_reference/rtps/attributes/TypeLookupSettings.rst b/docs/fastdds/api_reference/rtps/attributes/TypeLookupSettings.rst
deleted file mode 100644
index 0db57bf99..000000000
--- a/docs/fastdds/api_reference/rtps/attributes/TypeLookupSettings.rst
+++ /dev/null
@@ -1,8 +0,0 @@
-.. rst-class:: api-ref
-
-TypeLookupSettings
---------------------------------
-
-.. doxygenclass:: eprosima::fastrtps::rtps::TypeLookupSettings
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/attributes.rst b/docs/fastdds/api_reference/rtps/attributes/attributes.rst
index 0b1349c7a..8f23a1541 100644
--- a/docs/fastdds/api_reference/rtps/attributes/attributes.rst
+++ b/docs/fastdds/api_reference/rtps/attributes/attributes.rst
@@ -27,7 +27,6 @@ Attributes
     /fastdds/api_reference/rtps/attributes/SendBuffersAllocationAttributes
     /fastdds/api_reference/rtps/attributes/SimpleEDPAttributes
     /fastdds/api_reference/rtps/attributes/ThreadSettings
-    /fastdds/api_reference/rtps/attributes/TypeLookupSettings
     /fastdds/api_reference/rtps/attributes/VariableLengthDataLimits
     /fastdds/api_reference/rtps/attributes/WriterAttributes
     /fastdds/api_reference/rtps/attributes/WriterTimes
diff --git a/docs/fastdds/api_reference/spelling_wordlist.txt b/docs/fastdds/api_reference/spelling_wordlist.txt
index fa6995d47..fc16cfa82 100644
--- a/docs/fastdds/api_reference/spelling_wordlist.txt
+++ b/docs/fastdds/api_reference/spelling_wordlist.txt
@@ -4,17 +4,70 @@ addReaderLocator
 addReaderProxy
 addWriterProxy
 allowlist
+AppliedAnnotationPubSubType
+AppliedAnnotationParameterPubSubType
+AppliedBuiltinMemberAnnotationsPubSubType
+AppliedBuiltinTypeAnnotationsPubSubType
+AppliedVerbatimAnnotationPubSubType
 assignability
 autodispose
 autoenable
 autopurge
 behaviour
+bitcount
+bitfields
+bitflag
+Bitflag
 blocklist
 booleans
 bytesPerPeriod
 cacheChange
 CacheChange
 changeKind
+CommonAliasBodyPubSubType
+CommonAnnotationParameterPubSubType
+CommonArrayHeaderPubSubType
+CommonBitfieldPubSubType
+CommonBitflagPubSubType
+CommonBitmaskHeaderPubSubType
+CommonCollectionElementPubSubType
+CommonCollectionHeaderPubSubType
+CommonDiscriminatorMemberPubSubType
+CommonEnumeratedHeaderPubSubType
+CommonEnumeratedLiteralPubSubType
+CommonStructMemberPubSubType
+CommonUnionMemberPubSubType
+CompleteAliasBodyPubSubType
+CompleteAliasHeaderPubSubType
+CompleteAliasTypePubSubType
+CompleteAnnotationHeaderPubSubType
+CompleteAnnotationParameterPubSubType
+CompleteAnnotationTypePubSubType
+CompleteArrayHeaderPubSubType
+CompleteArrayTypePubSubType
+CompleteBitfieldPubSubType
+CompleteBitflagPubSubType
+CompleteBitmaskTypePubSubType
+CompleteBitsetHeaderPubSubType
+CompleteBitsetTypePubSubType
+CompleteCollectionElementPubSubType
+CompleteCollectionHeaderPubSubType
+CompleteDiscriminatorMemberPubSubType
+CompleteElementDetailPubSubType
+CompleteEnumeratedHeaderPubSubType
+CompleteEnumeratedLiteralPubSubType
+CompleteEnumeratedTypePubSubType
+CompleteExtendedTypePubSubType
+CompleteMapTypePubSubType
+CompleteMemberDetailPubSubType
+CompleteSequenceTypePubSubType
+CompleteStructHeaderPubSubType
+CompleteStructMemberPubSubType
+CompleteStructTypePubSubType
+CompleteTypeDetailPubSubType
+CompleteUnionHeaderPubSubType
+CompleteUnionMemberPubSubType
+CompleteUnionTypePubSubType
 cond
 config
 const
@@ -51,6 +104,8 @@ entityId
 Enum
 eprosima
 expectsInlineQos
+ExtendedAnnotationParameterValuePubSubType
+ExtendedTypeDefnPubSubType
 fastdds
 fastrtps
 filteredX
@@ -62,10 +117,13 @@ getTypeDependencies
 getTypes
 guid
 GuidPrefix
+hashid
+Hashid
 heartbeatPeriod
 heartbeatResponseDelay
 HistoryQosPolicy
 InconsistentTopicStatus
+Implementers
 infos
 initialAcknackDelay
 initialHeartbeatDelay
@@ -74,6 +132,7 @@ instanceHandle
 InstanceHandle
 intraprocess
 LatencyBudgetQosPolicy
+LBound
 lifecycle
 LifespanQosPolicy
 LivelinessChangedStatus
@@ -90,6 +149,36 @@ logWarning
 maxInitialPeersRange
 maxMessageSize
 md
+MinimalAliasBodyPubSubType
+MinimalAliasHeaderPubSubType
+MinimalAliasTypePubSubType
+MinimalAnnotationHeaderPubSubType
+MinimalAnnotationParameterPubSubType
+MinimalAnnotationTypePubSubType
+MinimalArrayHeaderPubSubType
+MinimalArrayTypePubSubType
+MinimalBitfieldPubSubType
+MinimalBitflagPubSubType
+MinimalBitmaskTypePubSubType
+MinimalBitsetHeaderPubSubType
+MinimalBitsetTypePubSubType
+MinimalCollectionElementPubSubType
+MinimalCollectionHeaderPubSubType
+MinimalDiscriminatorMemberPubSubType
+MinimalEnumeratedHeaderPubSubType
+MinimalEnumeratedLiteralPubSubType
+MinimalEnumeratedTypePubSubType
+MinimalExtendedTypePubSubType
+MinimalMapTypePubSubType
+MinimalMemberDetailPubSubType
+MinimalSequenceTypePubSubType
+MinimalStructHeaderPubSubType
+MinimalStructMemberPubSubType
+MinimalStructTypePubSubType
+MinimalTypeDetailPubSubType
+MinimalUnionHeaderPubSubType
+MinimalUnionMemberPubSubType
+MinimalUnionTypePubSubType
 msg
 mutex
 mutexes
@@ -114,10 +203,18 @@ PartitionQosPolicy
 PDPListener
 periodMillisecs
 Pid
+PlainArrayLElemDefnPubSubType
+PlainArraySElemDefnPubSubType
+PlainCollectionHeaderPubSubType
+PlainMapLTypeDefnPubSubType
+PlainMapSTypeDefnPubSubType
+PlainSequenceLElemDefnPubSubType
+PlainSequenceSElemDefnPubSubType
 PortBasedTransportDescriptor
 pos
 preallocate
 PresentationQosPolicy
+promotable
 ptr
 PublicationMatchedStatus
 PublisherListener
@@ -138,6 +235,7 @@ retransmit
 RTPSParticipantAllocationAttributes
 SampleLostStatus
 SampleRejectedStatus
+SBound
 SecurityException
 sequenceNumber
 serializedPaylaod
@@ -150,11 +248,15 @@ StatelessWriter
 StatusCondition
 statusmask
 stdout
+StringLTypeDefnPubSubType
+StringSTypeDefnPubSubType
+StronglyConnectedComponentIdPubSubType
 Struct
 Subclassed
 subclasses
 subentities
 subnetwork
+subsequence
 SubscriberListener
 SubscriptionMatchedStatus
 synchronism
@@ -171,13 +273,20 @@ TransportPriorityQosPolicy
 TypeConsistencyEnforcementQosPolicy
 TypeConsistencyQos
 typedef
+typeid
+TypeIdentfierWithSizePubSubType
 TypeIdentifier
+TypeIdentifierPairPubSubType
+TypeIdentifierTypeObjectPairPubSubType
+TypeIdentifierWithDependenciesPubSubType
 TypeIdV
 TypeInformation
+TypeInformationPubSubType
 typelookup
 TypeLookup
 TypeLookupReplyListener
 TypeLookupRequestListener
+TypeObjectRegistry
 TypeObjectV
 UDPv
 Unary
@@ -188,9 +297,11 @@ unregistering
 unregistration
 untaken
 untyped
+url
 UserAllocatedSequence
 wakeup
 wdata
 WLPListener
+wstring
 xml
 xtypes
diff --git a/docs/fastdds/dds_layer/core/entity/entity.rst b/docs/fastdds/dds_layer/core/entity/entity.rst
index fccd3ddd7..b23edb57d 100644
--- a/docs/fastdds/dds_layer/core/entity/entity.rst
+++ b/docs/fastdds/dds_layer/core/entity/entity.rst
@@ -132,11 +132,8 @@ diagram:
 
    * |DomainParticipantListener::on_participant_discovery-api|
    * |DomainParticipantListener::onParticipantAuthentication-api|
-   * |DomainParticipantListener::on_subscriber_discovery-api|
-   * |DomainParticipantListener::on_publisher_discovery-api|
-   * |DomainParticipantListener::on_type_discovery-api|
-   * |DomainParticipantListener::on_type_dependencies_reply-api|
-   * |DomainParticipantListener::on_type_information_received-api|
+   * |DomainParticipantListener::on_data_reader_discovery-api|
+   * |DomainParticipantListener::on_data_writer_discovery-api|
    * |DataWriterListener::on_unacknowledged_sample_removed-api|
 
 .. warning::
diff --git a/docs/fastdds/dds_layer/core/policy/xtypesExtensions.rst b/docs/fastdds/dds_layer/core/policy/xtypesExtensions.rst
index 28bda2765..42d1ac5eb 100644
--- a/docs/fastdds/dds_layer/core/policy/xtypesExtensions.rst
+++ b/docs/fastdds/dds_layer/core/policy/xtypesExtensions.rst
@@ -76,11 +76,13 @@ This QoS Policy cannot be configured using XML for the moment.
 TypeConsistencyEnforcementQosPolicy
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+.. warning::
+    This QoS Policy will be implemented in future releases.
+
 This XTypes QoS Policy extension defines the rules for determining whether the data type used in the
 |DataWriter| is consistent with the one used in the |DataReader|.
 See |TypeConsistencyEnforcementQosPolicy-api|.
 
-
 List of QoS Policy data members:
 
 .. list-table::
diff --git a/docs/fastdds/dds_layer/domain/domainParticipant/domainParticipant.rst b/docs/fastdds/dds_layer/domain/domainParticipant/domainParticipant.rst
index cb4d36df8..34e199efa 100644
--- a/docs/fastdds/dds_layer/domain/domainParticipant/domainParticipant.rst
+++ b/docs/fastdds/dds_layer/domain/domainParticipant/domainParticipant.rst
@@ -67,6 +67,9 @@ Internally it contains the following |QosPolicy-api| objects:
    * - |ThreadSettings|
      - |DomainParticipantQos::discovery_server_thread-api|
      - No
+   * - |ThreadSettings|
+     - |DomainParticipantQos::typelookup_service_threads-api|
+     - No
    * - |ThreadSettings|
      - |DomainParticipantQos::security_log_thread-api|
      - No
diff --git a/docs/fastdds/dds_layer/domain/domainParticipantListener/domainParticipantListener.rst b/docs/fastdds/dds_layer/domain/domainParticipantListener/domainParticipantListener.rst
index ae4495aef..fc6c753d1 100644
--- a/docs/fastdds/dds_layer/domain/domainParticipantListener/domainParticipantListener.rst
+++ b/docs/fastdds/dds_layer/domain/domainParticipantListener/domainParticipantListener.rst
@@ -34,22 +34,11 @@ Additionally, DomainParticipantListener adds the following non-standard callback
    If both callbacks are implemented, the discovery callback with the ``should_be_ignored`` boolean flag takes precedence.
    The second discovery callback is only executed if the discovered DomainParticipant is not ignored in the first callback (``should_be_ignored`` parameter returns ``false``).
 
- * |DomainParticipantListener::on_subscriber_discovery-api|: A new :ref:`dds_layer_subscriber_subscriber` is discovered in the same domain,
-   a previously known Subscriber has been removed,
-   or some Subscriber has changed its QoS.
+ * |DomainParticipantListener::on_data_reader_discovery-api|: A new :ref:`dds_layer_subscriber_dataReader` is discovered in the same domain,
+   a previously known DataReader has been removed, or some DataReader has changed its QoS.
 
- * |DomainParticipantListener::on_publisher_discovery-api|: A new :ref:`dds_layer_publisher_publisher` is discovered in the same domain,
-   a previously known Publisher has been removed,
-   or some Publisher has changed its QoS.
-
- * |DomainParticipantListener::on_type_discovery-api|: A new data Type is discovered in the same domain.
-
- * |DomainParticipantListener::on_type_dependencies_reply-api|: The Type lookup client received a replay to a :func:`getTypeDependencies` request.
-   This callback can be used to retrieve the new type using the :func:`getTypes` request and create a new
-   dynamic type using the retrieved type object.
-
- * |DomainParticipantListener::on_type_information_received-api|: A new |TypeInformation-api| has been received from a newly discovered
-   DomainParticipant.
+ * |DomainParticipantListener::on_data_writer_discovery-api|: A new :ref:`dds_layer_publisher_dataWriter` is discovered in the same domain,
+   a previously known DataWriter has been removed, or some DataWriter has changed its QoS.
 
  * |DomainParticipantListener::onParticipantAuthentication-api|: Informs about the result of the authentication process
    of a remote DomainParticipant (either on failure or success).
diff --git a/docs/fastdds/dds_layer/topic/contentFilteredTopic/createContentFilteredTopic.rst b/docs/fastdds/dds_layer/topic/contentFilteredTopic/createContentFilteredTopic.rst
index 696498cd9..f13dbe14d 100644
--- a/docs/fastdds/dds_layer/topic/contentFilteredTopic/createContentFilteredTopic.rst
+++ b/docs/fastdds/dds_layer/topic/contentFilteredTopic/createContentFilteredTopic.rst
@@ -51,8 +51,8 @@ It is advisable to check that the returned value is a valid pointer.
     Different filter classes may impose different requirements on the related Topic, the expression, or the parameters.
     The default filter class, in particular, requires that a TypeObject for the related Topic's type has been
     registered.
-    When using :ref:`fastddsgen <fastddsgen_supported_options>` to generate your type support code, remember to include
-    the ``-typeobject`` option so the TypeObject registration code is generated.
+    When using :ref:`fastddsgen <fastddsgen_supported_options>` the TypeObject registration code is generated by default.
+
 
 .. literalinclude:: /../code/DDSCodeTester.cpp
    :language: c++
diff --git a/docs/fastdds/dds_layer/topic/fastddsgen/fastddsgen.rst b/docs/fastdds/dds_layer/topic/fastddsgen/fastddsgen.rst
index dad230036..b11d9031e 100644
--- a/docs/fastdds/dds_layer/topic/fastddsgen/fastddsgen.rst
+++ b/docs/fastdds/dds_layer/topic/fastddsgen/fastddsgen.rst
@@ -16,7 +16,7 @@ Basic usage
 ^^^^^^^^^^^
 
 *Fast DDS* can be executed by calling *fastddsgen* on Linux or *fastddsgen.bat* on Windows.
-The IDL file containing the data type definition is given with the ``<IDLfile>`` argument.
+The IDL file containing the data type definition is given with the :code:`<IDLfile>` argument.
 
 +----------------------------------------------------------------------------------------------------------------------+
 | **Linux**                                                                                                            |
@@ -35,12 +35,11 @@ The IDL file containing the data type definition is given with the ``<IDLfile>``
 Among the available arguments defined in :ref:`fastddsgen_usage`, the main *Fast DDS-Gen* options for data type source
 code generation are the following:
 
-*   ``-replace``: It replaces existing files in case the data type files have been previously generated.
-*   ``-help``: It lists the currently supported platforms and Visual Studio versions.
-*   ``-typeobject``: It builds additional files for |TypeObject-api| generation and management (see
-    :ref:`dynamictypes_discovery_typeobject`).
-*   ``-example``: It generates a basic example of a DDS application and the files to build it for
-    the given ``platform``.
+*   :code:`-replace`: It replaces existing files in case the data type files have been previously generated.
+*   :code:`-help`: It lists the currently supported platforms and Visual Studio versions.
+*   :code:`-no-typeobjectsupport`: It disables the automatic generation of the |TypeObject| registration code.
+*   :code:`-example`: It generates a basic example of a DDS application and the files to build it for
+    the given :code:`platform`.
     Thus, *Fast DDS-Gen* tool can generate a sample application using the provided data type, together with a
     `Makefile`, to compile it on Linux distributions, and a Visual Studio project for Windows.
     To see an example of this please refer to tutorial :ref:`fastddsgen_pubsub_app`.
@@ -51,12 +50,9 @@ Output files
 *Fast DDS-Gen* outputs several files.
 Assuming the IDL file had the name *“Mytype”*, and none of the above options have been defined, these files are:
 
-*   MyType.cxx/.h: Type definition.
+*   MyType.hpp: Type definition.
 *   MyTypePubSubType.cxx/.h: Serialization and deserialization source code for the data type.
     It also defines the |TopicDataType::getKey-api| member function of the :class:`MyTypePubSubType` class in case the
     topic implements keys (see :ref:`dds_layer_topic_keyed_data_types`).
-
-If the ``-typeobject`` argument was used, `MyType.cxx` is modified to register the |TypeObject-api| representation in
-the |TypeObjectFactory-api|, and these files will also be generated:
-
-*   MyTypeTypeObject.cxx/.h: TypeObject representation for `MyType` IDL.
+*   MyTypeCdrAux.hpp/.ipp: Auxiliary methods required by Fast CDR for type encoding and decoding.
+*   MyTypeTypeObjectSupport.cxx/.hpp: Auxiliary code required for |TypeObject| generation and registration.
diff --git a/docs/fastdds/discovery/disc_callbacks.rst b/docs/fastdds/discovery/disc_callbacks.rst
index 11968c1bc..b3de0194c 100644
--- a/docs/fastdds/discovery/disc_callbacks.rst
+++ b/docs/fastdds/discovery/disc_callbacks.rst
@@ -9,11 +9,10 @@ DomainParticipantListener Discovery Callbacks
 
 As stated in :ref:`dds_layer_domainParticipantListener`, the |DomainParticipantListener-api| is an abstract class
 defining the callbacks that will be triggered in response to state changes on the DomainParticipant.
-Fast DDS defines four callbacks attached to events that may occur during discovery:
+Fast DDS defines three callbacks attached to events that may occur during discovery:
 |DomainParticipantListener::on_participant_discovery-api|,
-|DomainParticipantListener::on_subscriber_discovery-api|,
-|DomainParticipantListener::on_publisher_discovery-api|,
-|DomainParticipantListener::on_type_discovery-api|.
+|DomainParticipantListener::on_data_reader_discovery-api|,
+|DomainParticipantListener::on_data_writer_discovery-api|.
 Further information about the DomainParticipantListener is provided in the :ref:`dds_layer_domainParticipantListener`
 section.
 The following is an example of the implementation of DomainParticipantListener discovery callbacks.
diff --git a/docs/fastdds/dynamic_types/annotations.rst b/docs/fastdds/dynamic_types/annotations.rst
deleted file mode 100644
index bbd4f7660..000000000
--- a/docs/fastdds/dynamic_types/annotations.rst
+++ /dev/null
@@ -1,63 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_annotations:
-
-Annotations
-===========
-
-
-|DynamicTypeBuilder| allows applying an annotation
-to both current type and inner members with the functions:
-
-- :func:`apply_annotation`
-
-- :func:`apply_annotation_to_member`
-
-Both functions take the name,  the key and the value of the annotation.
-:func:`apply_annotation_to_member` additionally receives the ``MemberId`` of the inner member.
-
-For example, if we define an annotation like:
-
-.. code-block:: omg-idl
-
-    @annotation MyAnnotation
-    {
-        long value;
-        string name;
-    };
-
-And then we apply it through IDL to a struct:
-
-.. code-block:: omg-idl
-
-    @MyAnnotation(5, "length")
-    struct MyStruct
-    {
-        // ...
-    }
-
-The equivalent code using |DynamicTypes| will be:
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_ANNOTATION
-   :end-before: //!--
-   :dedent: 8
-
-Builtin annotations
--------------------
-
-The following annotations modifies the behavior of DynamicTypes:
-
-- | ``@position``: When applied to |Bitmask|, sets the position of the flag,
-  | as expected in the IDL annotation.
-  | If applied to |Bitset|, sets the base position of the bitfield,
-  | useful to identify unassigned bits.
-
-- | ``@bit_bound``: Applies to |Bitset|. Sets the size in bits of the bitfield.
-
-- | ``@key``: Alias for ``@Key``. See :ref:`dds_layer_topic_keyed_data_types` section for more details.
-
-- | ``@default``: Sets a default value for the member.
-
-- | ``@non_serialized``: Excludes a member from being serialized.
diff --git a/docs/fastdds/dynamic_types/complex_types.rst b/docs/fastdds/dynamic_types/complex_types.rst
deleted file mode 100644
index ea33bbca2..000000000
--- a/docs/fastdds/dynamic_types/complex_types.rst
+++ /dev/null
@@ -1,85 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_complextypes:
-
-Complex Types
-=============
-
-If the application's data model is complex, it is possible to combine the
-:ref:`basic types<dynamictypes_supportedtypes>` to create complex types,
-including nested composed types (structures within structures within unions).
-Types can also be extended using inheritance, improving the flexibility of the definition
-of the data types to fit the model.
-
-The following subsections describe these *complex types* and their use.
-
-.. contents::
-    :local:
-    :backlinks: none
-    :depth: 2
-
-
-.. _dynamictypes_complextypes_nestedstructures:
-
-Nested structures
------------------
-
-Structures can contain other structures as members.
-The access to these compound members is restricted and managed by the |DynamicData| instance.
-Users must request access calling ``loan_value`` before using them, and release
-them with ``return_loaned_value`` once they finished.
-The loan operation will fail if the member is already loaned and has not been released yet.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_NESTED_STRUCTS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_complextypes_inheritance:
-
-Structure inheritance
----------------------
-
-To inherit a structure from another one, use the ``create_child_struct_type`` function from
-|DynamicTypeBuilderFactory|.
-The resultant type contains all members from the base class and the new ones added to the child.
-
-Structures support several levels of inheritance, so the base class can be another derived type itself.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_INHERITANCE_STRUCTS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_complextypes_aliasalias:
-
-Alias of an alias
------------------
-
-Alias types support recursion, simply use an alias name as base type for :func:`create_alias_type`.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_NESTED_ALIAS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_complextypes_complexunions:
-
-Unions with complex types
--------------------------
-
-Unions support complex type fields.
-The access to these complex type fields is restricted and managed by the |DynamicData| instance.
-Users must request access calling ``loan_value`` before using them, and release
-them with ``return_loaned_value`` once they finished.
-The loan operation will fail if the fields is already loaned and has not been released yet.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_NESTED_UNIONS
-   :end-before: //!--
-   :dedent: 8
-
diff --git a/docs/fastdds/dynamic_types/concepts.rst b/docs/fastdds/dynamic_types/concepts.rst
deleted file mode 100644
index ca3790967..000000000
--- a/docs/fastdds/dynamic_types/concepts.rst
+++ /dev/null
@@ -1,188 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_overview:
-
-Overview of Dynamic Types
-=========================
-
-This section describes the classes related to dynamic types that are used through the rest of the documentation.
-At the bottom of the section you can also find a short example using the functionality.
-
-Involved classes
-----------------
-
-The following class diagram describes the relationship among the classes related to dynamic types.
-Please, refer to the description of each class to find its purpose and the nature of the relationship
-with the rest of the classes.
-
-.. figure:: /01-figures/dynamic_types_class_diagram.svg
-    :align: center
-
-    Dynamic types class diagram
-
-.. contents::
-    :local:
-    :backlinks: none
-    :depth: 2
-
-.. _dynamictypes_overview_dynamictype:
-
-DynamicType
-^^^^^^^^^^^^
-
-Base class of all types declared dynamically.
-It represents a dynamic data type that can be used to create
-|DynamicData| values.
-By design, the structure of a dynamic type (its member fields) cannot
-be modified once the type is created.
-
-
-.. _dynamictypes_overview_dynamictypebuilderfactory:
-
-DynamicTypeBuilderFactory
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-*Singleton* class that is in charge of the creation and the management of every
-DynamicType and |DynamicTypeBuilder|.
-It declares functions to create builders for each kind of supported types.
-Given a builder for a specific type, it can also create the corresponding
-DynamicType.
-Some simpler types can be created directly, avoiding the step of creating a
-DynamicTypeBuilder.
-Please, refer to the |Supported Types| documentation for details about
-which ones support this option.
-
-Every object created by the factory must be deleted to avoid memory leaking.
-Refer to the |Memory management| section for details.
-
-
-.. _dynamictypes_overview_dynamictypebuilder:
-
-DynamicTypeBuilder
-^^^^^^^^^^^^^^^^^^^^
-
-Intermediate class used to configure a DynamicType
-before it is created.
-By design, the structure of a DynamicType (its member fields) cannot
-be modified once the object is created.
-Therefore, all its structure must be defined prior to its creation.
-The builder is the object used to set up this structure.
-
-Once defined, the DynamicTypeBuilderFactory is used to create
-the DynamicType from the information contained in the builder.
-As a shortcut, the builder exposes a function :func:`build` that internally uses the
-DynamicTypeBuilderFactory to return a fully constructed
-DynamicType.
-The types created with :func:`build` are still subject to the |Memory management|
-restrictions, and must be deleted by the DynamicTypeBuilderFactory.
-
-Builders can be reused after the creation of a DynamicType, as
-the changes applied to the builder do not affect to types created previously.
-
-
-.. _dynamictypes_overview_typedescriptor:
-
-TypeDescriptor
-^^^^^^^^^^^^^^^
-
-Stores the information about one type with its relationships and restrictions.
-This is the class that describes the inner structure of a
-DynamicType.
-The DynamicTypeBuilder has an internal instance of
-TypeDescriptor that modifies during the type building process.
-When the DynamicType is created, the
-DynamicTypeBuilderFactory uses the information
-of the TypeDescriptor in the builder to create the DynamicType.
-During the creation, the TypeDescriptor is copied to the DynamicType,
-so that it becomes independent from the DynamicTypeBuilder,
-and the builder can be reused for another type.
-
-
-.. _dynamictypes_overview_dynamictypemember:
-
-DynamicTypeMember
-^^^^^^^^^^^^^^^^^^^
-
-Represents a data member of a DynamicType that is also a
-DynamicType.
-Compound types (dynamic types that are composed of other dynamic types) have a
-DynamicTypeMember for every child DynamicType added to it.
-
-
-.. _dynamictypes_overview_memberdescriptor:
-
-MemberDescriptor
-^^^^^^^^^^^^^^^^^
-
-Just as a TypeDescriptor describes the inner structure of a
-DynamicType,
-a MemberDescriptor stores all the information needed to manage a
-DynamicTypeMember, like their name, their unique ID, or
-the default value after the creation.
-This information is copied to the |DynamicData| on its creation.
-
-
-.. _dynamictypes_overview_dynamicdata:
-
-DynamicData
-^^^^^^^^^^^^
-
-While a DynamicType *describes* a type,
-DynamicData represents a data instance of a DynamicType.
-It provides functions to access and modify the data values in the instance.
-
-There are two ways to work with DynamicData:
-
-* Activating the macro ``DYNAMIC_TYPES_CHECKING``, which creates a variable for
-  each primitive kind to help the debug process.
-* Without this macro, the size of the DynamicData is reduced, using only the minimum needed
-  internal values, but it makes the code harder to debug.
-
-
-.. _dynamictypes_overview_dynamicdatafactory:
-
-DynamicDataFactory
-^^^^^^^^^^^^^^^^^^^^
-
-*Singleton* class that is in charge of the creation and the management of every
-DynamicData.
-It can take a DynamicType and create an instance of a
-corresponding DynamicData.
-Every data object created by the factory must be deleted to avoid memory leaking.
-Refer to the |Memory management| section for details.
-
-It also allows to create a :class:`TypeIdentifier` and a (Minimal and Complete) :class:`TypeObject` from a
-:class:`TypeDescriptor`.
-
-
-.. _dynamictypes_overview_dynamicpubsubtype:
-
-DynamicPubSubType
-^^^^^^^^^^^^^^^^^^
-
-This class is an adapter that allows using DynamicData on Fast DDS.
-It inherits from ``TopicDataType`` and implements the functions needed to communicate the
-DynamicData between Publishers and Subscribers.
-
-
-.. _dynamictypes_overview_example:
-
-Minimum example
----------------
-
-This is a short example to illustrate the use of the dynamic types and how the classes describe above interact
-with each other.
-While the code snippet can be used as a quick reference for code building, the sequence diagram below provides a
-visual interpretation of the actions.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_QUICK_EXAMPLE
-   :end-before: //!
-   :dedent: 8
-
-.. figure:: /01-figures/dynamic_types_sequence_diagram.svg
-    :align: center
-
-    Sequence diagram of the code above
-
diff --git a/docs/fastdds/dynamic_types/discovery.rst b/docs/fastdds/dynamic_types/discovery.rst
deleted file mode 100644
index d6c45daf9..000000000
--- a/docs/fastdds/dynamic_types/discovery.rst
+++ /dev/null
@@ -1,183 +0,0 @@
-.. include:: ../../03-exports/aliases-api.include
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_discovery:
-
-Dynamic Types Discovery and Endpoint Matching
-=============================================
-
-.. _DDS-XTypes V1.2: http://www.omg.org/spec/DDS-XTypes/1.2
-
-When using |DynamicTypes| support, *Fast DDS* checks the optional |TypeObject|
-and |TypeIdentifier| values during endpoint matching.
-Currently, the matching only verifies that both endpoints are using the same topic data type,
-but will not negotiate about it.
-
-The process of checking the types is as follows:
-
-* It checks :class:`CompleteTypeObject` on TypeObject first.
-* If one or both endpoints do not define the :class:`CompleteTypeObject`, it tries with :class:`MinimalTypeObject`.
-* If one or both endpoints do not define :class:`MinimalTypeObject` either,
-  it compares the TypeIdentifier.
-* If none is defined, then just the type name is checked.
-
-If one of the endpoints  transmits a :class:`CompleteTypeObject`, :ref:`discovery-time-data-typing` can be performed.
-
-.. _dynamictypes_discovery_typeobject:
-
-TypeObject
-----------
-
-|TypeObjectV1-api| fully describes a data type, the same way as the IDL representation does.
-There are two kinds of TypeObjects: :class:`CompleteTypeObject` and :class:`MinimalTypeObject` .
-
- - :class:`CompleteTypeObject` fully describes the type, the same way as the IDL representation does.
- - :class:`MinimalTypeObject` is a compact representation of the data type, that contains only the information relevant
-   for the remote Endpoint to be able to interpret the data.
-
-TypeObject is an IDL union with both *Minimal* and *Complete* representation.
-Both are described in the annexes of `DDS-XTypes V1.2`_ document,
-please refer to this document for details.
-
-
-.. _dynamictypes_discovery_typeinformation:
-
-TypeInformation
----------------
-
-|TypeInformation-api| is an extension of *XTypes 1.2* that allow Endpoints to
-share information about data types without sending the TypeObject.
-Endpoints instead share a TypeInformation containing the
-TypeIdentifier of the data type.
-Then each Endpoint can request the complete TypeObject for the data
-types it is interested in.
-This avoids sending the complete data type to Endpoints that may not be interested.
-
-|TypeInformation-api| is described in the annexes of `DDS-XTypes V1.2`_ document,
-please refer to this document for details.
-
-
-.. _dynamictypes_discovery_typeidentifier:
-
-TypeIdentifier
---------------
-
-|TypeIdV1-api| provides a unique way to identify each type.
-For basic types, the information contained in the TypeIdentifier
-completely describes the type, while for complex ones, it serves as a search key to
-retrieve the complete TypeObject.
-
-|TypeIdV1-api| is described in the annexes of `DDS-XTypes V1.2`_ document,
-please refer to this document for details.
-
-
-.. _dynamictypes_discovery_typeobjectfactory:
-
-TypeObjectFactory
------------------
-
-*Singleton* class that manages the creation and access for every registered TypeObject
-and TypeIdentifier.
-It can generate a full :ref:`dynamictypes_overview_dynamictype` from a basic
-TypeIdentifier (i.e., one whose discriminator is not :class:`EK_MINIMAL`
-or :class:`EK_COMPLETE`).
-
-.. _dynamictypes_discovery_ddsgen:
-
-Fast DDS-Gen
-------------
-
-*Fast DDS-Gen* supports the generation of `XXXTypeObject.h` and `XXXTypeObject.cxx` files,
-taking :class:`XXX` as our IDL type.
-These files provide a small Type Factory for the type :class:`XXX`.
-Generally, these files are not used directly, as now the type :class:`XXX` will register itself through its factory to
-TypeObjectFactory in its constructor, making it very easy to use static types
-with dynamic types.
-
-.. _discovery-time-data-typing:
-
-Discovery-Time Data Typing
---------------------------
-
-Using the Fast DDS API, when a participant discovers a remote endpoint that sends a complete
-TypeObject or a simple TypeIdentifier describing a type
-that the participant does not know, the participant listener's function
-:cpp:func:`on_type_discovery<eprosima::fastdds::dds::DomainParticipantListener::on_type_discovery>`
-is called with the received TypeObject or TypeIdentifier,
-and, when possible, a pointer to a :ref:`dynamictypes_overview_dynamictype` ready to be used.
-
-Discovery-Time Data Typing allows the discovering of simple DynamicTypes.
-A TypeObject that depends on other TypeObjects, cannot be built locally using
-Discovery-Time Data Typing and should use :ref:`TypeLookup-Service` instead.
-
-To ease the sharing of the TypeObject and TypeIdentifier
-used by Discovery-Time Data Typing,
-:ref:`TopicDataType<dds_layer_definition_data_types>` contains a function member named
-|TopicDataType::auto_fill_type_object-api|.
-If set to true, the local participant will send the TypeObject and
-TypeIdentifier to the remote endpoint during discovery.
-
-
-.. _typelookup-service:
-
-TypeLookup Service
-------------------
-
-Using the Fast DDS API, when a participant discovers an endpoint that sends a type information
-describing a type that the participant doesn't know, the participant listener's function
-|DomainParticipantListener::on_type_information_received-api|
-is called with the received TypeInformation.
-The user can then try to retrieve the full TypeObject hierarchy to build the remote type locally, using the
-TypeLookup Service.
-
-To enable this builtin TypeLookup Service, the user must enable it in the
-:ref:`QoS<dds_layer_domainParticipantQos>` of the :ref:`dds_layer_domainParticipant`:
-
-.. tabs::
-
-  .. tab:: C++
-
-    .. literalinclude:: /../code/DDSCodeTester.cpp
-      :language: c++
-      :start-after: //DDS_TYPELOOKUP_SERVICE_ENABLING
-      :end-before: //!--
-      :dedent: 8
-
-  .. tab:: XML
-
-    .. literalinclude:: /../code/XMLTester.xml
-      :language: xml
-      :start-after: <!-->XML_TYPELOOKUP_SERVICE_ENABLING
-      :end-before: <!--><-->
-
-A participant can be enabled to act as a TypeLookup server, client, or both.
-
-The process of retrieving the remote type from its TypeInformation, and then registering it, can be simplified
-using the |DomainParticipant::register_remote_type-api|
-function on the :ref:`dds_layer_domainParticipant`.
-This function takes the name of the type, the type information, and a callback function.
-Internally it uses the TypeLookup Service to retrieve the full TypeObject,
-and, if successful, it will call the callback.
-
-This callback has the following signature:
-
-.. code-block:: c
-
-    void(std::string& type_name, const DynamicType_ptr type)
-
-* **type_name**: Is the name given to the type when calling
-  |DomainParticipant::register_remote_type-api|,
-  to allow the same callback to be used across different calls.
-
-* **type**: If the |DomainParticipant::register_remote_type-api|
-  was able to build and register a :ref:`dynamictypes_overview_dynamictype`, this parameter contains
-  a pointer to the type.
-  Otherwise it contains ``nullptr``.
-  In the latter case, the user can still try to build the type manually using the factories, but it is very
-  likely that the build process will fail.
-
-:ref:`TopicDataType<dds_layer_definition_data_types>` contains a data member named
-|TopicDataType::auto_fill_type_information-api|.
-If set to true, the local participant will send the type information to the remote endpoint during discovery.
-
-
diff --git a/docs/fastdds/dynamic_types/dynamic_types.rst b/docs/fastdds/dynamic_types/dynamic_types.rst
deleted file mode 100644
index 158df34af..000000000
--- a/docs/fastdds/dynamic_types/dynamic_types.rst
+++ /dev/null
@@ -1,27 +0,0 @@
-.. _dynamic-types:
-
-Dynamic Topic Types
-===================
-
-.. _DDS-XTypes V1.2: http://www.omg.org/spec/DDS-XTypes/1.2
-
-eProsima Fast DDS provides a dynamic way to define and use topic types and topic data.
-Our implementation follows the *OMG Extensible and Dynamic Topic Types for DDS interface*.
-For more information, you can read the specification for `DDS-XTypes V1.2`_.
-
-The dynamic topic types offer the possibility to work over RTPS without the restrictions related to the IDLs.
-Using them, the users can declare the different types that they need and manage the information directly,
-avoiding the additional step of updating the IDL file and the generation of *C++* classes.
-
-.. toctree::
-   :maxdepth: 3
-
-   /fastdds/dynamic_types/concepts.rst
-   /fastdds/dynamic_types/supported_types.rst
-   /fastdds/dynamic_types/complex_types.rst
-   /fastdds/dynamic_types/annotations.rst
-   /fastdds/dynamic_types/discovery.rst
-   /fastdds/dynamic_types/serialization.rst
-   /fastdds/dynamic_types/xml_profiles.rst
-   /fastdds/dynamic_types/memory_management.rst
-   /fastdds/dynamic_types/examples.rst
diff --git a/docs/fastdds/dynamic_types/examples.rst b/docs/fastdds/dynamic_types/examples.rst
deleted file mode 100644
index 3affb5648..000000000
--- a/docs/fastdds/dynamic_types/examples.rst
+++ /dev/null
@@ -1,51 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-.. include:: ../../03-exports/aliases-api.include
-
-.. _dynamictypes_examples:
-
-Dynamic HelloWorld Examples
-===========================
-
-.. _Fast DDS GitHub repository: https://github.com/eProsima/Fast-DDS
-
-These are complete working examples that make use of dynamic types.
-You can explore them to find how this feature connects to the rest of *Fast DDS*,
-and learn how to integrate it in your own application.
-
-DynamicHelloWorldExample
-------------------------
-
-This example is in folder
-`examples/cpp/dds/DynamicHelloWorldExample <https://github.com/eProsima/Fast-DDS/tree/master/examples/cpp/dds/DynamicHelloWorldExample>`_
-of the `Fast DDS GitHub repository`_.
-It shows the use of DynamicType generation to provide the |TopicDataType|.
-This example is compatible with the classic HelloWorldExample.
-
-As a quick reference, the following piece of code shows how the HelloWorld type is created using DynamicTypes:
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_HELLO_WORLD_API
-   :end-before: //!--
-   :dedent: 8
-
-
-DDSDynamicHelloWorldExample
----------------------------
-
-This example uses the DDS API, and can be retrieve from folder
-`examples/cpp/dds/DynamicHelloWorldExample <https://github.com/eProsima/Fast-DDS/tree/master/examples/cpp/dds/DynamicHelloWorldExample>`_
-of the `Fast DDS GitHub repository`_.
-It shows a publisher that loads a type from an XML file, and shares it during discovery.
-The subscriber discovers the type using :ref:`discovery-time-data-typing`, and registers the
-discovered type on the |DomainParticipantListener::on_type_discovery-api| listener function.
-
-TypeLookupService
------------------
-
-This example uses the DDS API, and it is located in folder
-`examples/cpp/dds/TypeLookupService <https://github.com/eProsima/Fast-DDS/tree/master/examples/cpp/dds/TypeLookupService>`_
-of the `Fast DDS GitHub repository`_.
-It is very similar to DDSDynamicHelloWorldExample, but the shared type is complex enough to require the
-TypeLookup Service due to the dependency of inner struct types.
-Specifically, it uses the |DomainParticipant::register_remote_type-api| approach with a callback.
diff --git a/docs/fastdds/dynamic_types/memory_management.rst b/docs/fastdds/dynamic_types/memory_management.rst
deleted file mode 100644
index bdc6caf64..000000000
--- a/docs/fastdds/dynamic_types/memory_management.rst
+++ /dev/null
@@ -1,34 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_memorymanagement:
-
-Memory management
-=================
-
-Memory management is critical for dynamic types since
-every dynamic type and dynamic data is managed with pointers.
-Every object stored inside of a dynamic object is managed by its owner, and users
-must delete every object they create using the factories.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_NOTES_1
-   :end-before: //!--
-   :dedent: 8
-
-To ease this management, the library defines smart pointers (``DynamicTypeBuilder_ptr``,
-``DynamicType`` and  ``DynamicData_ptr``) that will delete the objects automatically when they are not
-needed anymore.
-``DynamicType`` will always be returned as ``DynamicType_ptr`` because there is no internal management of its memory.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_NOTES_2
-   :end-before: //!--
-   :dedent: 8
-
-The only case where these smart pointers cannot be used is with functions ``loan_value`` and ``return_loaned_value``.
-Raw pointers should be used with these functions, because the returned value should not be deleted, and using
-a smart pointer with them will cause a crash.
-
-
diff --git a/docs/fastdds/dynamic_types/serialization.rst b/docs/fastdds/dynamic_types/serialization.rst
deleted file mode 100644
index adefa82e6..000000000
--- a/docs/fastdds/dynamic_types/serialization.rst
+++ /dev/null
@@ -1,16 +0,0 @@
-.. _dynamictypes_serialization:
-
-Serialization
-=============
-
-Dynamic Types have their own :class:`pubsub` type like any class generated with an IDL, and
-their management is pretty similar to them.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_SERIALIZATION
-   :end-before: //!--
-   :dedent: 8
-
-A member can be marked to be ignored by serialization with the annotation ``@non_serialized``.
-
diff --git a/docs/fastdds/dynamic_types/supported_types.rst b/docs/fastdds/dynamic_types/supported_types.rst
deleted file mode 100644
index 026a1fdd9..000000000
--- a/docs/fastdds/dynamic_types/supported_types.rst
+++ /dev/null
@@ -1,321 +0,0 @@
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_supportedtypes:
-
-Supported Types
-===============
-
-In order to provide maximum flexibility and capability to the defined dynamic types,
-eProsima Fast DDS supports several member types, ranging from simple primitives to nested structures.
-
-This section describes the basic (not nested) supported types. For more complex structures and
-examples, please, refer to :ref:`dynamictypes_complextypes`.
-
-
-.. contents::
-    :local:
-    :backlinks: none
-    :depth: 2
-
-.. _dynamictypes_supportedtypes_primitive:
-
-Primitive Types
----------------
-
-This section includes every simple kind:
-
-+--------------------------+--------------------------+
-| ``BOOLEAN``              | ``INT64``                |
-+--------------------------+--------------------------+
-| ``BYTE``                 | ``UINT16``               |
-+--------------------------+--------------------------+
-| ``CHAR8``                | ``UINT32``               |
-+--------------------------+--------------------------+
-| ``CHAR16``               | ``UINT64``               |
-+--------------------------+--------------------------+
-| ``INT16``                | ``FLOAT32``              |
-+--------------------------+--------------------------+
-| ``INT32``                | ``FLOAT64``              |
-+--------------------------+--------------------------+
-| ``FLOAT128``             |                          |
-+--------------------------+--------------------------+
-
-By definition, primitive types are self-described and can be created without configuration parameters.
-Therefore, |DynamicTypeBuilderFactory| exposes several functions to allow users create
-the dynamic type avoiding the |DynamicTypeBuilder| step.
-The DynamicTypeBuilder can still be used to create dynamic data of primitive types,
-as shown on the example below.
-The DynamicData class has a specific :func:`get` and :func:`set` functions for each primitive
-type of the list.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_PRIMITIVES
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_string:
-
-String and WString
-------------------
-
-Strings are pretty similar to primitive types, the main difference being
-that they need to set the size of the ``buffer`` that they can manage.
-By default this size is set to 255 characters.
-
-DynamicTypeBuilderFactory exposes the functions :func:`create_string_type` and :func:`create_wstring_type`
-to allow users create the DynamicTypes avoiding the DynamicTypeBuilder step.
-The DynamicTypeBuilder can still be used to create String type dynamic data,
-as shown on the example below.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_STRINGS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_alias:
-
-Alias
------
-
-Alias types provide an alternative name to an already existing type.
-Once the DynamicData is created, users can access its information as if
-they were working with the base type.
-
-DynamicTypeBuilderFactory exposes the function :func:`create_alias_type` to allow users
-create the Alias types avoiding the DynamicTypeBuilder step.
-The DynamicTypeBuilder can still be used to create Alias,
-as shown on the example below.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_ALIAS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_enumeration:
-
-Enumeration
------------
-
-An enumeration contains a set of supported values and a selected value among those supported.
-The supported values must be configured using the DynamicTypeBuilder, using the :func:`add_member` function
-for each supported value.
-The input to this function is the index and the name of the value we want to add.
-
-The DynamicData class has functions :func:`get_enum_value` and :func:`set_enum_value` to work
-with value index or value name name strings.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_ENUMERATIONS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_bitmask:
-
-Bitmask
--------
-
-Bitmasks are similar to `enumeration` types, but their members work as bit flags that can be individually turned on and
-off. Bit operations can be applied when testing or setting a bitmask value.
-DynamicData has the special functions :func:`get_bitmask_value` and :func:`set_bitmask_value` which allow to retrieve or
-modify the full value instead of accessing each bit.
-
-Bitmasks can be bound to any number of bits up to 64.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_BITMASKS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_structure:
-
-Structure
----------
-
-Structures are the common complex types, they allow to add any kind of members inside them.
-They do not have any value, they are only used to contain other types.
-
-To manage the types inside the structure, users can call the :func:`get` and :func:`set` functions
-according to the kind of the type inside the structure using their ``ids``.
-If the structure contains a complex value, it should be used with ``loan_value`` to
-access to it and ``return_loaned_value`` to release that pointer.
-DynamicData manages the counter of loaned values and users can not loan a value that
-has been loaned previously without calling ``return_loaned_value`` before.
-
-The ``ids`` must be consecutive starting by zero, and the DynamicType will change that
-Id if it doesn't match with the next value.
-If two members have the same Id, after adding the second one, the previous
-will change its Id to the next value.
-To get the Id of a member by name, DynamicData exposes the function :func:`get_member_id_by_name`.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_STRUCTS
-   :end-before: //!--
-   :dedent: 8
-
-Structures allow inheritance, exactly with the same OOP meaning. To inherit from another structure, we must create the
-structure calling the :func:`create_child_struct_builder` of the factory. This function is shared with bitsets and will
-deduce our type depending on the parent's type.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_STRUCTS-INHERIT
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_bitset:
-
-Bitset
-------
-
-Bitset types are similar to `structure` types, but their members are merely `bitfields`, which are stored optimally.
-In the static version of bitsets, each bit uses just one bit in memory (with platform limitations) without alignment
-considerations. A bitfield can be anonymous (cannot be addressed) to skip unused bits within a bitset.
-
-Each bitfield in a bitset can be modified through their minimal needed primitive representation.
-
-+--------------------------+--------------------------+
-| Number of bits           | Primitive                |
-+--------------------------+--------------------------+
-| ``1``                    | ``BOOLEAN``              |
-+--------------------------+--------------------------+
-| ``2-8``                  | ``UINT8``                |
-+--------------------------+--------------------------+
-| ``9-16``                 | ``UINT16``               |
-+--------------------------+--------------------------+
-| ``17-32``                | ``UINT32``               |
-+--------------------------+--------------------------+
-| ``33-64``                | ``UINT64``               |
-+--------------------------+--------------------------+
-
-Each bitfield (or member) works like its primitive type with the only difference that the internal storage only
-modifies the involved bits instead of the full primitive value.
-
-Bit_bound and position of the bitfield can be set using annotations (useful when converting between static and dynamic
-bitsets).
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_BITSETS
-   :end-before: //!--
-   :dedent: 8
-
-Bitsets allows inheritance, exactly with the same OOP meaning. To inherit from another bitset, we must create the
-bitset calling the ``create_child_struct_builder`` of the factory. This function is shared with structures and will
-deduce our type depending on the parent's type.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_BITSETS-INHERIT
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_union:
-
-Union
------
-
-Unions are a special kind of structures where only one of the members is active
-at the same time.
-To control these members, users must set the ``discriminator`` type that is going to be used
-to select the current member calling the ``create_union_builder`` function.
-The ``discriminator`` itself is a DynamicType of any primitive type, string type or union type.
-
-Every member that is going to be added needs at least one ``union_case_index`` to set
-how it is going to be selected and, optionally, if it is the default value of the union.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_UNIONS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_sequence:
-
-Sequence
---------
-
-A complex type that manages its members as a list of items allowing users to
-insert, remove or access to a member of the list. To create this type users
-need to specify the type that it is going to store and optionally the size
-limit of the list.
-
-To ease the memory management of this type, DynamicData has these functions:
-
- - :func:`insert_sequence_data`: Creates a new element at the end of the list and returns
-   the ``id`` of the new element.
- - :func:`remove_sequence_data`: Removes the element of the given index and refreshes the ``ids``
-   to keep the consistency of the list.
- - :func:`clear_data`: Removes all the elements of the list.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_SEQUENCES
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_array:
-
-Array
------
-
-Arrays are pretty similar to sequences with two main differences:
-they can have multiple dimensions and they do not need their elements
-to be stored consecutively.
-
-An array needs to know the number of dimensions it is managing.
-For that, users must provide a vector with as many elements as dimensions in the array.
-Each element in the vector represents the size of the given dimension.
-If the value of an element is set to zero, the default value applies (``100``).
-
-Id values on the :func:`set` and :func:`get` functions of DynamicData correspond to the array index.
-To ease the management of array elements, every :func:`set` function in DynamicData class creates
-the item if the given index is empty.
-
-To ease the memory management of this type, DynamicData has these functions:
-
- * :func:`insert_array_data`: Creates a new element at the end of the array and returns
-   the ``id`` of the new element.
- * :func:`remove_array_data`: Clears the element of the given index.
- * :func:`clear_data`: Removes all the elements of the array.
- * :func:`get_array_index`: Returns the position id giving a vector of indexes on every dimension
-   that the arrays support, which is useful in multidimensional arrays.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_ARRAYS
-   :end-before: //!--
-   :dedent: 8
-
-.. _dynamictypes_supportedtypes_map:
-
-Map
----
-
-Maps contain a list of 'key-value' pair types, allowing users to insert, remove or
-modify the element types of the map.
-The main difference with sequences is that the map works with pairs of elements and
-creates copies of the key element to block the access to these elements.
-
-To create a map, users must set the types of the key and the value elements, and,
-optionally, the size limit of the map.
-
-To ease the memory management of this type, `DynamicData` has these functions:
-
- * :func:`insert_map_data`: Inserts a new key value pair and returns the ids of the newly
-   created key and value elements.
- * :func:`remove_map_data`: Uses the given id to find the key element and removes the key
-   and the value elements from the map.
- * :func:`clear_data`: Removes all the elements from the map.
-
-.. literalinclude:: /../code/CodeTester.cpp
-   :language: c++
-   :start-after: //DYNAMIC_TYPES_CREATE_MAPS
-   :end-before: //!--
-   :dedent: 8
-
diff --git a/docs/fastdds/dynamic_types/xml_profiles.rst b/docs/fastdds/dynamic_types/xml_profiles.rst
deleted file mode 100644
index 90b53e8dd..000000000
--- a/docs/fastdds/dynamic_types/xml_profiles.rst
+++ /dev/null
@@ -1,17 +0,0 @@
-.. include:: ../../03-exports/aliases-api.include
-.. include:: ../../03-exports/aliases.include
-
-.. _dynamictypes_xmlprofiles:
-
-
-XML profiles
-------------
-
-:ref:`XMLDynamicTypes` allows *eProsima Fast DDS* to create DynamicTypes directly defining them through XML.
-This allows any application to change |TopicDataTypes| without the need to change its source code.
-
-Please, refer to :ref:`XMLDynamicTypes` for further information about how to use this feature.
-
-
-
-
diff --git a/docs/fastdds/getting_started/simple_app/includes/dataType.rst b/docs/fastdds/getting_started/simple_app/includes/dataType.rst
index eb054adbb..a9ddada72 100644
--- a/docs/fastdds/getting_started/simple_app/includes/dataType.rst
+++ b/docs/fastdds/getting_started/simple_app/includes/dataType.rst
@@ -41,12 +41,13 @@ To do this, run the following command from the ``src`` directory.
 
 This must have generated the following files:
 
-    * HelloWorld.cxx: HelloWorld type definition.
-    * HelloWorld.h: Header file for HelloWorld.cxx.
+    * HelloWorld.hpp: HelloWorld type definition.
     * HelloWorldPubSubTypes.cxx: Interface used by Fast DDS to support HelloWorld type.
     * HelloWorldPubSubTypes.h: Header file for HelloWorldPubSubTypes.cxx.
     * HelloWorldCdrAux.ipp: Serialization and Deserialization code for the HelloWorld type.
     * HelloWorldCdrAux.hpp: Header file for HelloWorldCdrAux.ipp.
+    * HelloWorldTypeObjectSupport.cxx: |TypeObject| registration code.
+    * HelloWorldTypeObjectSupport.hpp: Header file for HelloWorldTypeObjectSupport.cxx.
 
 CMakeLists.txt
 """"""""""""""
diff --git a/docs/fastdds/getting_started/simple_app/includes/workspace.rst b/docs/fastdds/getting_started/simple_app/includes/workspace.rst
index 2cfd0e60b..6a92c8380 100644
--- a/docs/fastdds/getting_started/simple_app/includes/workspace.rst
+++ b/docs/fastdds/getting_started/simple_app/includes/workspace.rst
@@ -18,15 +18,16 @@ Subscriber application respectively.
         │   └── Makefile
         ├── CMakeLists.txt
         └── src
-            ├── HelloWorld.cxx
-            ├── HelloWorld.h
+            ├── HelloWorld.hpp
             ├── HelloWorld.idl
             ├── HelloWorldCdrAux.hpp
             ├── HelloWorldCdrAux.ipp
             ├── HelloWorldPublisher.cpp
             ├── HelloWorldPubSubTypes.cxx
             ├── HelloWorldPubSubTypes.h
-            └── HelloWorldSubscriber.cpp
+            ├── HelloWorldSubscriber.cpp
+            ├── HelloWorldTypeObjectSupport.cxx
+            └── HelloWorldTypeObjectSupport.hpp
 
 Let's create the directory tree first.
 
diff --git a/docs/fastdds/getting_started/simple_python_app/includes/dataType.rst b/docs/fastdds/getting_started/simple_python_app/includes/dataType.rst
index 9c03a5f1b..28ae08515 100644
--- a/docs/fastdds/getting_started/simple_python_app/includes/dataType.rst
+++ b/docs/fastdds/getting_started/simple_python_app/includes/dataType.rst
@@ -42,14 +42,15 @@ To do this, run the following command.
 
 This must have generated the following files:
 
-    * HelloWorld.cxx: HelloWorld C++ type definition.
-    * HelloWorld.h: C++ header file for HelloWorld.cxx.
+    * HelloWorld.hpp: HelloWorld C++ type definition.
     * HelloWorld.i: `SWIG`_ interface file for HelloWorld C++ type definition.
     * HelloWorldPubSubTypes.cxx: C++ interface used by Fast DDS to support HelloWorld type.
     * HelloWorldPubSubTypes.h: C++ header file for HelloWorldPubSubTypes.cxx.
     * HelloWorldPubSubTypes.i: `SWIG`_ interface file for C++ Serialization and Deserialization code.
     * HelloWorldCdrAux.ipp: C++ serialization and deserialization code for the HelloWorld type.
     * HelloWorldCdrAux.hpp: C++ header file for HelloWorldCdrAux.ipp.
+    * HelloWorldTypeObjectSupport.cxx: |TypeObject| registration code.
+    * HelloWorldTypeObjectSupport.hpp: Header file for HelloWorldTypeObjectSupport.cxx.
     * CMakeLists.txt: CMake file to generate C++ source code and Python module from the `SWIG`_ interface files,
       compile and generate C++ libraries.
 
diff --git a/docs/fastdds/getting_started/simple_python_app/includes/workspace.rst b/docs/fastdds/getting_started/simple_python_app/includes/workspace.rst
index 916941211..6569ee0b6 100644
--- a/docs/fastdds/getting_started/simple_python_app/includes/workspace.rst
+++ b/docs/fastdds/getting_started/simple_python_app/includes/workspace.rst
@@ -11,8 +11,7 @@ Subscriber application respectively.
     ├── CMakeCache.txt
     ├── CMakeFiles
     ├── CMakeLists.txt
-    ├── HelloWorld.cxx
-    ├── HelloWorld.h
+    ├── HelloWorld.hpp
     ├── HelloWorld.i
     ├── HelloWorld.idl
     ├── HelloWorld.py
@@ -23,6 +22,8 @@ Subscriber application respectively.
     ├── HelloWorldPubSubTypes.i
     ├── HelloWorldPublisher.py
     ├── HelloWorldSubscriber.py
+    ├── HelloWorldTypeObjectSupport.cxx
+    ├── HelloWorldTypeObjectSupport.hpp
     ├── Makefile
     ├── _HelloWorldWrapper.so
     ├── cmake_install.cmake
diff --git a/docs/fastdds/getting_started/simple_python_app/simple_python_app.rst b/docs/fastdds/getting_started/simple_python_app/simple_python_app.rst
index abe8641f7..9c12f0fbb 100644
--- a/docs/fastdds/getting_started/simple_python_app/simple_python_app.rst
+++ b/docs/fastdds/getting_started/simple_python_app/simple_python_app.rst
@@ -1,3 +1,4 @@
+.. include:: ../../../03-exports/aliases.include
 .. include:: ../../../03-exports/aliases-python.include
 
 .. _writing_pubsub_python_app:
diff --git a/docs/fastdds/library_overview/includes/exec_model.rst b/docs/fastdds/library_overview/includes/exec_model.rst
index 15107b2c5..2a4491937 100644
--- a/docs/fastdds/library_overview/includes/exec_model.rst
+++ b/docs/fastdds/library_overview/includes/exec_model.rst
@@ -33,96 +33,103 @@ Transport related threads (marked as UDP, TCP and SHM types) are only created wh
     * - Event
       - General
       - One per DomainParticipant
-      - ``dds.ev.<participant_id>``
+      - :code:`dds.ev.<participant_id>`
       - Processes periodic and triggered time events. |br|
         See :ref:`dds_layer_domainParticipantQos`.
     * - Discovery Server Event
       - General
       - One per DomainParticipant
-      - ``dds.ds_ev.<participant_id>``
+      - :code:`dds.ds_ev.<participant_id>`
       - Synchronizes access to the Discovery Server |br| Database. |br|
         See :ref:`dds_layer_domainParticipantQos`.
     * - Asynchronous Writer
       - General
       - One per enabled asynchronous |br| flow controller.
         Minimum 1.
-      - ``dds.asyn.<participant_id>.`` |br|
-        ``<async_flow_controller_index>``
+      - :code:`dds.asyn.<participant_id>.` |br|
+        :code:`<async_flow_controller_index>`
       - Manages asynchronous writes.
         Even for synchronous writers, some forms of |br| communication must be initiated in the |br| background. |br|
         See :ref:`dds_layer_domainParticipantQos` and :ref:`flowcontrollersqos`.
     * - Datasharing Listener
       - General
       - One per |br| DataReader
-      - ``dds.dsha.<reader_id>``
+      - :code:`dds.dsha.<reader_id>`
       - Listener thread that processes messages |br| received via Datasharing. |br|
         See :ref:`dds_layer_subscriber_dataReaderQos`.
     * - Reception
       - UDP
       - One per port
-      - ``dds.udp.<port>``
+      - :code:`dds.udp.<port>`
       - Listener thread that processes incoming |br| UDP messages. |br|
         See :ref:`transportconfigqos` and :ref:`transport_udp_transportDescriptor`.
     * - Reception
       - TCP
       - One per TCP connection
-      - ``dds.tcp.<port>``
+      - :code:`dds.tcp.<port>`
       - Listener thread that processes incoming |br| TCP messages. |br|
         See :ref:`transport_tcp_transportDescriptor`.
     * - Accept
       - TCP
       - One per TCP transport
-      - ``dds.tcp_accept``
+      - :code:`dds.tcp_accept`
       - Thread that processes incoming TCP connection requests. |br|
         See :ref:`transport_tcp_transportDescriptor`.
     * - Keep Alive
       - TCP
       - One per TCP transport
-      - ``dds.tcp_keep``
+      - :code:`dds.tcp_keep`
       - Keep alive thread for TCP connections. |br|
         See :ref:`transport_tcp_transportDescriptor`.
     * - Reception
       - SHM
       - One per port
-      - ``dds.shm.<port>``
+      - :code:`dds.shm.<port>`
       - Listener thread that processes incoming |br| messages via SHM segments. |br|
         See :ref:`transportconfigqos` and :ref:`transport_sharedMemory_transportDescriptor`.
     * - Logging
       - SHM
       - One per port
-      - ``dds.shmd.<port>``
+      - :code:`dds.shmd.<port>`
       - Stores and dumps transferred packets to a file. |br|
         See :ref:`transportconfigqos` and :ref:`transport_sharedMemory_transportDescriptor`.
     * - Watchdog
       - SHM
       - One
-      - ``dds.shm.wdog``
+      - :code:`dds.shm.wdog`
       - Monitors health of open shared memory |br| segments. |br|
         See :ref:`transportconfigqos` and :ref:`transport_sharedMemory_transportDescriptor`.
     * - General Logging
       - Log
       - One
-      - ``dds.log``
+      - :code:`dds.log`
       - Accumulates and writes to the appropriate |br| consumer log entries. |br|
         See :ref:`dds_layer_log_thread`.
     * - Security Logging
       - Log
       - One per |br| DomainParticipant
-      - ``dds.slog.<participant_id>``
+      - :code:`dds.slog.<participant_id>`
       - Accumulates and writes security log entries. |br|
         See :ref:`dds_layer_domainParticipantQos`.
     * - Watchdog
       - Filewatch
       - One
-      - ``dds.fwatch``
+      - :code:`dds.fwatch`
       - Tracks the status of the watched file for |br| modifications. |br|
         See :ref:`dds_layer_domainParticipantFactoryQos`.
     * - Callback
       - Filewatch
       - One
-      - ``dds.fwatch.cb``
+      - :code:`dds.fwatch.cb`
       - Runs the registered callback when the |br| watched file changes. |br|
         See :ref:`dds_layer_domainParticipantFactoryQos`.
+    * - Reception
+      - TypeLookup Service
+      - Two per DomainParticipant
+      - :code:`dds.tls.replies.<participant_id>` |br|
+        :code:`dds.tls.requests.<participant_id>`
+      - Runs when remote endpoint discovery information has been received |br|
+        with unknown data type.
 
 Some of these threads are only spawned when certain conditions are met:
 
diff --git a/docs/fastdds/use_cases/remote_type_discovery_matching/remote_type_discovery_matching.rst b/docs/fastdds/use_cases/remote_type_discovery_matching/remote_type_discovery_matching.rst
new file mode 100644
index 000000000..77dc253dd
--- /dev/null
+++ b/docs/fastdds/use_cases/remote_type_discovery_matching/remote_type_discovery_matching.rst
@@ -0,0 +1,69 @@
+.. include:: ../../../03-exports/aliases.include
+.. include:: ../../../03-exports/aliases-api.include
+
+.. _use-case-remote-type-discovery-and-matching:
+
+Remote type discovery and endpoint matching
+===========================================
+
+This section explains how to create an endpoint using a remotely discovered data type that was previously unknown to the
+local participant.
+
+Prerequisites
+-------------
+
+This use case focuses on the strategy to follow in order to create an endpoint at runtime in a previously unknown topic
+using the information provided by the remote endpoint discovery information.
+Therefore, the prerequisites are:
+
+.. TODO: third prerequiste will be obsolete once the DynamicTypes defined using the Dynamic Language Binding are
+   able to be registered into TypeObjectRegistry.
+
+* Two participants, A and B, running in different process (type information is shared within the same
+  DomainParticipantFactory).
+* Participant A must not know the data type registered in participant B.
+* Participant B data type must be registered using the code generated by
+  :ref:`eProsima Fast DDS-Gen<fastddsgen_intro>` without disabling the TypeObjectSupport code generation.
+* Participant B must create an endpoint using the data type unknown by participant A.
+* Participant A must be attached to a :ref:`dds_layer_domainParticipantListener`.
+
+Remote type discovery
+---------------------
+
+Following the :ref:`participant discovery phase <disc_phases>`, the endpoint information is exchanged.
+The appropriate |DomainParticipantListener::on_data_reader_discovery-api| or
+|DomainParticipantListener::on_data_writer_discovery-api| callback is called, depending on the kind of endpoint
+created on the remote participant.
+The endpoint discovery callback provides access to the remotely discovered information including the |TypeInformation|.
+
+Provided the :code:`TypeInformation`, |ITypeObjectRegistry-api| singleton can be queried for the corresponding
+|TypeObject| calling |ITypeObjectRegistry::get_type_object| API.
+
+Register remote type
+--------------------
+
+|DynamicTypeBuilderFactory-api| provides a specific API that given a |TypeObject| returns the corresponding
+|DynamicTypeBuilder-api|: |DynamicTypeBuilderFactory::create_type_w_type_object|.
+The |DynamicType-api| can then be obtained and registered using |DynamicPubSubType-api|.
+
+Create local endpoint
+---------------------
+
+Once the remote type has been locally registered, a :ref:`Topic<dds_layer_topic_topic>` can be created within the
+DomainParticipant and endpoints using this Topic might be also created.
+
+.. note::
+
+  Endpoint matching takes into consideration QoS consistency.
+  Consequently, for the local endpoint to match, the remote QoS has to be taken into account.
+  The remote endpoint discovery information provided by the discovery callback includes also this data.
+
+Example
+-------
+
+The following snippet shows the previously explained steps:
+
+.. literalinclude:: /../code/DDSCodeTester.cpp
+     :language: c++
+     :start-after: //!--REMOTE_TYPE_MATCHING
+     :end-before: //!--
diff --git a/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst b/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst
index adce32741..dbf6424f4 100644
--- a/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst
+++ b/docs/fastdds/use_cases/rosbag_capture/rosbag_capture.rst
@@ -147,14 +147,19 @@ For the IDL being used in this example the data type name would be "fastdds_reco
 
 Create a new workspace different from the ROS 2 one used previously.
 Copy inside the same IDL file and run Fast DDS-Gen to generate
-the TypeSupport and the example source files:
+the TypeSupport and the example source files.
+
+.. note::
+
+    Fast DDS-Gen :code:`-no-typeobjectsupport` option is advisable to be enabled as this feature does not ensure vendor
+    interoperability for the moment.
 
 .. code-block:: bash
 
     mkdir HelloWorldExample
     cd HelloWorldExample
     cp <PATH_TO_ROS2_WORKSPACE>/fastdds_record_typesupport/idl/HelloWorld.idl .
-    fastddsgen -example CMake -typeros2 HelloWorld.idl
+    fastddsgen -example CMake -typeros2 -no-typeobjectsupport HelloWorld.idl
 
 This command will populate the current folder with the required header and source files to build the TypeSupport,
 and the Publisher and Subscriber applications.
@@ -163,8 +168,9 @@ and the Publisher and Subscriber applications.
 
     └── HelloWorldExample
         ├── CMakeLists.txt
-        ├── HelloWorld.cxx
-        ├── HelloWorld.h
+        ├── HelloWorldCdrAux.hpp
+        ├── HelloWorldCdrAux.ipp
+        ├── HelloWorld.hpp
         ├── HelloWorld.idl
         ├── HelloWorldPublisher.cxx
         ├── HelloWorldPublisher.h
diff --git a/docs/fastdds/use_cases/use_cases.rst b/docs/fastdds/use_cases/use_cases.rst
index 207296f90..a55848155 100644
--- a/docs/fastdds/use_cases/use_cases.rst
+++ b/docs/fastdds/use_cases/use_cases.rst
@@ -98,6 +98,10 @@ with distributed systems:
   *Request-Reply* communications.
   This use case explains how to use the APIs to communicate two application using *Request-Reply*.
 
++ :ref:`use-case-remote-type-discovery-and-matching`.
+  This use case leverages the :ref:`xtypes_discovery_matching` to create endpoints and start communicating with remote
+  discovered endpoints with previously unknown data types.
+
 .. toctree::
     :maxdepth: 2
     :hidden:
@@ -115,3 +119,4 @@ with distributed systems:
     /fastdds/use_cases/dynamic_network_interfaces/dynamic_network_interfaces.rst
     /fastdds/use_cases/rosbag_capture/rosbag_capture.rst
     /fastdds/use_cases/request_reply/request_reply.rst
+    /fastdds/use_cases/remote_type_discovery_matching/remote_type_discovery_matching.rst
diff --git a/docs/fastdds/xml_configuration/domainparticipant.rst b/docs/fastdds/xml_configuration/domainparticipant.rst
index 1e2a74042..b6aadbd44 100644
--- a/docs/fastdds/xml_configuration/domainparticipant.rst
+++ b/docs/fastdds/xml_configuration/domainparticipant.rst
@@ -202,6 +202,12 @@ These elements allow the user to define the DomainParticipant configuration.
      - |ThreadSettings| for the discovery server thread.
      - |ThreadSettings|
      -
+   * - ``<typelookup_service_thread>``
+     - |ThreadSettings| for the threads used by the builtin TypeLookup service |br|
+       to discover unknown remote types. |br|
+       See :ref:`xtypes_discovery_matching`.
+     - |ThreadSettings|
+     -
    * - ``<builtin_transports_reception_threads>``
      - |ThreadSettings| for the builtin transports reception threads.
      - |ThreadSettings|
@@ -323,12 +329,6 @@ This section specifies the available XML members for the configuration of this
        port is already in use.
      - ``uint32_t``
      - 100
-   * - ``typelookup_config``
-     - TypeLookup Service settings. |br|
-       See :ref:`typelookup-service`.
-     - :ref:`typelookup_config`
-     -
-
 
 **Example**
 
@@ -520,28 +520,6 @@ Initial Announcements
 | ``<period>`` | The period for the DomainParticipant to send its discovery messages.  | :ref:`DurationType` | 100 ms  |
 +--------------+-----------------------------------------------------------------------+---------------------+---------+
 
-.. _typelookup_config:
-
-TypeLookup Service Configuration
-################################
-
-.. list-table::
-  :header-rows: 1
-  :align: left
-
-  * - Name
-    - Description
-    - Values
-    - Default
-  * - ``use_client``
-    - Create TypeLookup Service client builtin endpoints.
-    - ``bool``
-    - ``false``
-  * - ``use_server``
-    - Create TypeLookup Service server builtin endpoints.
-    - ``bool``
-    - ``false``
-
 .. _Port:
 
 Port Configuration
diff --git a/docs/fastdds/xml_configuration/dynamic_types.rst b/docs/fastdds/xml_configuration/dynamic_types.rst
index df1cc6f4e..860428577 100644
--- a/docs/fastdds/xml_configuration/dynamic_types.rst
+++ b/docs/fastdds/xml_configuration/dynamic_types.rst
@@ -8,15 +8,14 @@ Dynamic Types profiles
 ----------------------
 
 *Fast DDS* supports the implementation of |DynamicTypes| by defining them through XML files.
-Thus the :ref:`Dynamic Types <dynamic-types>` can be modified without the need to modify the source code of the DDS
-application.
+Thus the topic data types can be modified without the need to modify the source code of the DDS application.
 
 XML Structure
 ^^^^^^^^^^^^^
 
-The definition of type profiles in the XML file is done with the ``<types>`` tag.
-Each ``<types>`` element can contain one or more :ref:`Type definitions <Type definition>`.
-Defining several types within a ``<types>`` element or a single type for each ``<types>`` element has the same
+The definition of data type profiles in the XML file is done with the :code:`types` tag.
+Each :code:`types` element can contain one or more :ref:`Type definitions <Type definition>`.
+Defining several types within a :code:`types` element or a single type for each :code:`types` element has the same
 result.
 Below, an example of a stand-alone types definition via XML is shown.
 
@@ -34,31 +33,29 @@ Below, an example of a stand-alone types definition via XML is shown.
 
 Type definition
 ^^^^^^^^^^^^^^^
-Below, the types supported by *Fast DDS* are presented .
-For further information about the supported |DynamicTypes|, please, refer to :ref:`dynamictypes_supportedtypes`.
-For each of the types detailed below, an example of how to build the type's XML profile is provided.
-
-*   `Member types`_
-
-    -  `Primitive types`_
-    -  `Bounded strings`_
-    -  `Sequences`_
-    -  `Arrays`_
-    -  `Maps`_
-
-*   `Enumerations`_
-*   `Typedef`_
-*   `Struct`_
-*   `Union`_
-*   `Bitset`_
-*   `Bitmask`_
-*   `Complex types`_
+Below, the types supported by *eProsima Fast DDS* are presented.
+For further information about the supported |DynamicTypes|, please, refer to :ref:`xtypes_supportedtypes`.
+For each type listed below, an example of how to build the type's XML profile is provided.
+
+* `Primitive types`_
+* :ref:`xmldynamictypes_strings`
+* :ref:`xmldynamictypes_enums`
+* :ref:`xmldynamictypes_bitmask`
+* :ref:`xmldynamictypes_typedef`
+* :ref:`xmldynamictypes_sequence`
+* :ref:`xmldynamictypes_array`
+* :ref:`xmldynamictypes_map`
+* :ref:`xmldynamictypes_struct`
+* :ref:`xmldynamictypes_union`
+* :ref:`xmldynamictypes_bitset`
+
+.. _xmldynamictypes_member:
 
 Member types
 """"""""""""
 
-Member types are defined as any type that can belong to a `Struct`_ or a `Union`_, or be aliased by a
-`Typedef`_.
+Member types are defined as any type that can belong to a :ref:`Struct<xmldynamictypes_struct>` or a
+:ref:`Union <xmldynamictypes_union>`, or be aliased by a :ref:`Alias <xmldynamictypes_typedef>`.
 These can be defined by the ``<member>`` XML tag.
 A member can be annotated as ``key`` (equivalent of the IDL's ``@key``) by setting the ``key`` attribute to ``"true"``.
 
@@ -67,248 +64,384 @@ A member can be annotated as ``key`` (equivalent of the IDL's ``@key``) by setti
   :start-after: <!-->XML-MEMBER_WITH_KEY<-->
   :end-before: <!--><-->
 
+.. _xmldynamictypes_primivites:
+
 Primitive types
-***************
+"""""""""""""""
 
-The identifiers of the available basic types are listed in the table below.
-Please, refer to :ref:`dynamictypes_supportedtypes_primitive` for more information on the primitive types.
+Primitive types are built-in types and they should be declared as members of an aggregated type
+(:ref:`xmldynamictypes_struct` or :ref:`xmldynamictypes_union`).
+Primitive types are declared by attribute :code:`type` and the possible values are listed in the table below.
+Please, refer to :ref:`xtypes_supportedtypes_primitive` for more information on primitive types.
 
 .. list-table::
 
   * - ``boolean``
+    - ``byte``
     - ``char8``
     - ``char16``
-  * - ``byte``
-    - ``octet``
+    - ``int32``
+  * - ``uint32``
+    - ``int8``
     - ``uint8``
-  * - ``int8``
     - ``int16``
-    - ``int32``
-  * - ``uint16``
-    - ``uint32``
-    - ``int64``
-  * - ``uint64``
+    - ``uint16``
+  * - ``int64``
+    - ``uint64``
     - ``float32``
     - ``float64``
-  * - ``float128``
-    - ``string``
-    - ``wstring``
+    - ``float128``
 
-All of them are defined as follows:
+All of them are declared as follows:
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-GENERIC<-->
-  :end-before: <!--><-->
+.. tabs::
 
-Bounded strings
-***************
+   .. tab:: XML
 
-Bounded strings are defined as any other ``string`` or ``wstring`` but adding the attribute ``stringMaxLength`` with the
-maximum length available for that specific string.
-Please, refer to :ref:`dynamictypes_supportedtypes_string` for more information on string type.
+      .. literalinclude:: /../code/XMLTester.xml
+        :language: xml
+        :start-after: <!-->XML_PRIMITIVES<-->
+        :end-before: <!--><-->
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-BOUNDEDSTRINGS<-->
-  :end-before: <!--><-->
+   .. tab:: IDL
 
-Sequences
-*********
+      .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+        :language: omg-idl
+        :start-after: //!--IDL_PRIMITIVES
+        :end-before: //!--
 
-The sequence type is implemented by setting three attributes: ``name``, ``type``, and the
-``sequenceMaxLength``.
-The type of its content should be defined by the ``type`` attribute.
-Please, refer to :ref:`dynamictypes_supportedtypes_sequence` section for more information on sequence type.
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-SEQUENCES<-->
-  :end-before: <!--><-->
+.. _xmldynamictypes_strings:
 
-Arrays
-******
+String Types
+""""""""""""
 
-Arrays are defined in the same way as any other member type but they add the attribute ``arrayDimensions``.
-The format of the ``arrayDimensions`` attribute value is the size of each dimension separated by commas.
-Please, refer to :ref:`dynamictypes_supportedtypes_array` explanation for more information on array type.
+String types should be defined as members of an aggregated type (:ref:`xmldynamictypes_struct` or
+:ref:`xmldynamictypes_union`).
+String types are defined with attribute :code:`type` set to :code:`string` or :code:`wstring`.
+An optional attribute :code:`stringMaxLength` might used to set a maximum length for the string collection.
+Please, refer to :ref:`xtypes_supportedtypes_string` for more information on string types.
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-ARRAYS<-->
-  :end-before: <!--><-->
+.. tabs::
 
-Maps
-****
+   .. tab:: XML
 
-Maps are similar to sequences, but they need to define two content types.
-The ``key_type`` defines the type of the map key, while the ``type`` defines the map value type.
-See section :ref:`dynamictypes_supportedtypes_map` for more information on map type.
+      .. literalinclude:: /../code/XMLTester.xml
+        :language: xml
+        :start-after: <!-->XML_STRINGS<-->
+        :end-before: <!--><-->
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-MAPS<-->
-  :end-before: <!--><-->
+   .. tab:: IDL
+
+      .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+        :language: omg-idl
+        :start-after: //!--IDL_STRINGS
+        :end-before: //!--
+
+.. _xmldynamictypes_enums:
+
+Enumeration Types
+"""""""""""""""""
+
+Enumeration types are defined using the :code:`<enum>` tag.
+Attribute :code:`name` and at least one :code:`<enumerator>` child element are mandatory.
+Enumeration literals are defined using the :code:`<enumerator>` tag with mandatory attribute :code:`name`.
+Optionally, unsigned integer attribute :code:`value` might be added to set a specific value for the enumeration literal.
+
+.. note::
+
+    :code:`value` attribute is equivalent to :code:`@value` builtin annotation which is not still supported in neither
+    the plain (IDL) nor |DynamicTypes|.
+
+Please, refer to :ref:`xtypes_supportedtypes_enumeration` for more information on enumeration types.
+
+.. tabs::
+
+    .. tab:: XML
 
-Complex types
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_ENUM<-->
+            :end-before: <!--><-->
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_ENUM
+            :end-before: //!--
+
+.. _xmldynamictypes_bitmask:
+
+Bitmask Types
 """""""""""""
 
-The complex types are a combination of the aforementioned types.
-Complex types can be defined using the ``<member>`` element in the same way a basic or an array type would be.
-The ``type`` in this case is ``nonBasic`` (not a `Primitive types`_) and the name of the previously defined type is
-given in the ``nonBasicTypeName`` attribute.
-Please, refer to :ref:`dynamictypes_complextypes` section for more information on complex types.
+Bitmask types are defined using the :code:`<bitmask>` tag.
+Attribute :code:`name` and at least on :code:`<bit_value>` child element are mandatory.
+Optionally, :code:`bit_bound` attribute might be set to specify the bitmask bound (by default 32 bits).
+Bitflag elements are defined using the :code:`<bit_value>` tag with mandatory attribute :code:`name`.
+Optionally, :code:`position` attribute might be defined to set the bitflag position within the bitmask.
+Please, refer to :ref:`xtypes_supportedtypes_bitmask` for more information on bitmask types.
 
-The following example shows a new structure with the ``primitive_types_example`` struct defined in `Primitive types`_
-example.
+.. tabs::
 
-.. literalinclude:: /../code/XMLTester.xml
-    :language: xml
-    :start-after: <!-->XML-COMPLEX<-->
-    :end-before: <!--><-->
+    .. tab:: XML
 
-Complex types attributes
-************************
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_BITMASK<-->
+            :end-before: <!--><-->
 
-The attributes of a complex type element can be highly varied depending on the type being defined.
-Since the attributes that can be defined for each of the types have already been listed,
-these attributes are then defined in the following table.
+    .. tab:: IDL
 
-.. list-table::
-    :header-rows: 1
-
-    *   - Name
-        - Description
-    *   - ``type``
-        - Data type.
-          This can be a `Primitive types`_ or a ``nonBasic`` type. |br|
-          The latter is used to denote that a complex type is defined.
-    *   - ``nonBasicTypeName``
-        - Name of the complex type. Only applies if the ``type`` attribute is set to ``nonBasic``.
-    *   - ``stringMaxLength``
-        - Maximum length of a string.
-    *   - ``sequenceMaxLength``
-        - Maximum length of a `Sequences`_.
-    *   - ``arrayDimensions``
-        - Dimensions of an array.
-    *   - ``key_type``
-        - Data type of a map key.
-    *   - ``mapMaxLength``
-        - Maximum length of a `Maps`_.
-
-Typedef
-"""""""
-
-The ``<typedef>`` XML element is defined by a ``name`` and a ``type`` mandatory attributes, and any of the optional
-attributes presented in `Complex types attributes`_ section.
-This element allows for defining complex types without the need to define them previously as members.
-Maps, arrays and sequences can be elements within another container using ``<typedef>``.
-The ``<typedef>`` element corresponds to :ref:`dynamictypes_supportedtypes_alias` in :ref:`dynamictypes_supportedtypes`
-section.
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_BITMASK
+            :end-before: //!--
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-TYPEDEF<-->
-  :end-before: <!--><-->
+.. _xmldynamictypes_typedef:
 
-Enumerations
-""""""""""""
+Alias Types
+"""""""""""
 
-The ``<enum>`` type is defined by its attribute ``name`` and a set of ``<enumerator>`` child elements.
-Each ``<enumerator>`` is defined by two attributes: a mandatory ``name`` and an optional unsigned integer ``value``.
-Please, refer to :ref:`dynamictypes_supportedtypes_enumeration` for more information on the ``<enum>`` type.
+Alias types are defined using the :code:`<typedef>` tag.
+Attributes :code:`name` and :code:`type` are mandatory.
+Depending on the aliased type, some other mandatory and/or optional attributes might be necessary or available.
+Non-primitive types must define the :code:`type` attribute as :code:`nonBasic` and include the :code:`nonBasicTypeName`
+attribute with the name of the aliased type.
+Please, refer to :ref:`xtypes_supportedtypes_alias` for more information on alias types.
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-DYN-ENUM<-->
-  :end-before: <!--><-->
+.. tabs::
 
-Struct
-""""""
+    .. tab:: XML
 
-The ``<struct>`` element is defined by its ``name`` attribute and its ``<member>`` child elements.
-Please, refer to :ref:`dynamictypes_supportedtypes_structure` for more information on the ``<struct>`` type.
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_TYPEDEF<-->
+            :end-before: <!--><-->
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-STRUCT<-->
-  :end-before: <!--><-->
+    .. tab:: IDL
 
-Structs can inherit from another struct.
-This is implemented by defining the value of the ``baseType`` attribute, on the child ``<struct>`` element to be the
-value of the ``name`` attribute of the parent ``<struct>`` element.
-This is exemplified by the code snippet below.
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_TYPEDEF
+            :end-before: //!--
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-STRUCT-INHERIT<-->
-  :end-before: <!--><-->
+.. _xmldynamictypes_sequence:
 
-Union
-"""""
+Sequence Types
+""""""""""""""
 
-The ``<union>`` type is defined by a ``name`` attribute, a ``<discriminator>`` child element and a set of ``<case>``
-child elements.
-The ``<discriminator>`` must define its ``type``
-Each ``<case>`` element has one or more ``<caseDiscriminator>`` elements, which type must be consistent with the
-``<discriminator>`` type, and a unique ``<member>`` element.
-Please, refer to :ref:`dynamictypes_supportedtypes_union` for more information on the ``<union>`` type.
+Sequence types should be defined as members of an aggregated type (:ref:`xmldynamictypes_struct` or
+:ref:`xmldynamictypes_union`).
+Sequence types are defined with mandatory attributes :code:`type` set to the collection's element type, and
+:code:`sequenceMaxLength` used to set the maximum collection's length.
+Unbounded sequences should set :code:`sequenceMaxLength` attribute to :code:`-1`.
+Please, refer to :ref:`xtypes_supportedtypes_sequence` for more information on sequence types.
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-UNION<-->
-  :end-before: <!--><-->
+.. tabs::
 
-Bitset
-""""""
+   .. tab:: XML
 
-The ``<bitset>`` element defines the :ref:`dynamictypes_supportedtypes_bitset` type.
-It is comprised by a ``name`` attribute and a set of ``<bitfield>`` child elements.
-In turn, the ``<bitfield>`` element has the mandatory ``bit_bound`` attribute, which cannot be higher than 64, and
-two optional attributes: ``name`` and ``type``.
-A ``<bitfield>`` without ``name`` attribute is an inaccessible set of bits.
-Its management ``type`` can ease the ``<bitfield>`` modification and access.
-Please, refer to :ref:`dynamictypes_supportedtypes_bitset` for more information about the ``<bitset>`` type.
+      .. literalinclude:: /../code/XMLTester.xml
+        :language: xml
+        :start-after: <!-->XML_SEQUENCES<-->
+        :end-before: <!--><-->
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-BITSET<-->
-  :end-before: <!--><-->
+   .. tab:: IDL
 
-Moreover, bitsets can inherit from another bitsets:
+      .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+        :language: omg-idl
+        :start-after: //!--IDL_SEQUENCES
+        :end-before: //!--
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-BITSET-INHERIT<-->
-  :end-before: <!--><-->
+.. _xmldynamictypes_array:
 
-Bitmask
-"""""""
+Array Types
+"""""""""""
 
-The ``<bitmask>`` element, which corresponds to the :ref:`dynamictypes_supportedtypes_bitmask` type, is defined by
-a mandatory ``name`` attribute, an optional ``bit_bound`` attribute, and several ``<bit_value>`` child elements.
-The ``bit_bound`` attribute specifies the number of bits that the bitmask type will manage.
-The maximum value allowed for the ``bit_bound`` is 64.
-The ``<bit_value>`` element must define the ``name`` attribute and it might define its position in the bitmask setting
-the ``positition`` attribute.
-Please, refer to :ref:`dynamictypes_supportedtypes_bitmask` for more information on the ``<bitmask>`` type.
+Array types should be defined as members of an aggregated type (:ref:`xmldynamictypes_struct` or
+:ref:`xmldynamictypes_union`).
+Array types are defined with mandatory attributes :code:`type` set to the collection's element type, and
+:code:`arrayDimensions` used to set the collection's dimensions.
+The format of :code:`arrayDimensions` attribute value is the size of each dimension separated by commas.
+Please, refer to :ref:`xtypes_supportedtypes_array` for more information on array types.
 
-.. literalinclude:: /../code/XMLTester.xml
-  :language: xml
-  :start-after: <!-->XML-BITMASK<-->
-  :end-before: <!--><-->
+.. tabs::
+
+  .. tab:: XML
+
+    .. literalinclude:: /../code/XMLTester.xml
+      :language: xml
+      :start-after: <!-->XML_ARRAYS<-->
+      :end-before: <!--><-->
+
+  .. tab:: IDL
+
+    .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+      :language: omg-idl
+      :start-after: //!--IDL_ARRAYS
+      :end-before: //!--
+
+.. _xmldynamictypes_map:
+
+Map Types
+"""""""""
+
+Map types should be defined as members of an aggregated type (:ref:`xmldynamictypes_struct` or
+:ref:`xmldynamictypes_union`).
+Map types are defined with mandatory attributes :code:`type` set to the map's value type, :code:`key_type` set to the
+map's key type, and :code:`mapMaxLength` used to set the maximum map's number of key-value pairs.
+Unbounded maps should set :code:`mapMaxLength` attribute to :code:`-1`.
+Please, refer to :ref:`xtypes_supportedtypes_map` for more information on map types.
+
+.. tabs::
+
+  .. tab:: XML
+
+    .. literalinclude:: /../code/XMLTester.xml
+      :language: xml
+      :start-after: <!-->XML_MAPS<-->
+      :end-before: <!--><-->
+
+  .. tab:: IDL
+
+    .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+      :language: omg-idl
+      :start-after: //!--IDL_MAPS
+      :end-before: //!--
+
+.. _xmldynamictypes_struct:
+
+Structure Types
+"""""""""""""""
+
+Structure types are defined using the :code:`<struct>` tag with mandatory attribute :code:`name`.
+Structure inheritance may be configured setting optional attribute :code:`baseType`.
+XML Structure Types require at least one member defined.
+
+.. note::
+
+    `IDL specification <https://www.omg.org/spec/IDL/4.2/About-IDL>`__ introduced in version 4.1 the possibility of void
+    content structures.
+    Empty structures are not supported in XML Types profiles yet.
+
+Structure members are defined using the :code:`<member>` tag with mandatory attributes :code:`name` and :code:`type`.
+Depending on the member type, some other mandatory and/or optional attributes might be necessary or available.
+Non-primitive types must define the :code:`type` attribute as :code:`nonBasic` and include the :code:`nonBasicTypeName`
+attribute with the name of the member type.
+
+.. note::
+
+    Currently, XML Types profiles does not support setting the member ID or marking a member as key.
+
+Please, refer to :ref:`xtypes_supportedtypes_structure` for more information on structure types.
+
+.. tabs::
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_STRUCT<-->
+            :end-before: <!--><-->
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_STRUCT
+            :end-before: //!--
+
+.. _xmldynamictypes_union:
+
+Union Types
+"""""""""""
+
+Union types are defined using the :code:`<union>` tag with mandatory attribute :code:`name`.
+A mandatory discriminator child must be defined using :code:`<discriminator>` tag.
+Discriminator element requires :code:`<type>` as mandatory attribute.
+
+Union types also require at least one case child defined using the :code:`<case>` tag.
+Each case child requires at least one label child using the :code:`<caseDiscriminator>` tag.
+:code:`value` attribute is mandatory and defines the label value.
+Several labels might be defined using several :code:`<caseDiscriminator>` elements.
+Each case child must have exclusively one union member defined.
+
+Union members are defined using the :code:`<member>` tag with mandatory attributes :code:`name` and :code:`type`.
+Depending on the member type, some other mandatory and/or optional attributes might be necessary or available.
+Non-primitive types must define the :code:`type` attribute as :code:`nonBasic` and include the :code:`nonBasicTypeName`
+attribute with the name of the member type.
+At least one union member must be defined for the union type to be consistent.
+
+.. note::
+
+    Currently, XML Types profiles does not support setting the member ID or marking a member as key.
+
+Please, refer to :ref:`xtypes_supportedtypes_union` for more information on the union types.
+
+.. tabs::
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_UNION<-->
+            :end-before: <!--><-->
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_UNION
+            :end-before: //!--
+
+.. _xmldynamictypes_bitset:
+
+Bitset Types
+""""""""""""
+
+Bitset types are defined using the :code:`<bitset>` tag with mandatory attribute :code:`name`.
+Bitset inheritance may be configured setting optional attribute :code:`baseType`.
+At least one bitfield child must be defined using :code:`bitfield` tag.
+
+Bitfield elements require mandatory attribute :code:`bit_bound` with the number of bits managed by the bitfield (maximum
+64 bits).
+Optionally, attributes :code:`name` and :code:`type` might be defined.
+An anonymous bitfield (attribute :code:`name` not set) is not accessible and serves as padding between named bitfields.
+The :code:`type` attribute can ease bitfield management explicitly setting an integer type that handles the bitfield.
+
+Please, refer to :ref:`xtypes_supportedtypes_bitset` for more information about the bitset types.
+
+.. tabs::
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_BITSET<-->
+            :end-before: <!--><-->
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_BITSET
+            :end-before: //!--
 
 .. _Usage:
 
-Loading dynamic types in a *Fast DDS* application
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Loading XML Types profile in *Fast DDS* application
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-In the *Fast DDS* application that will make use of the *XML Types*, the XML files that
-define the types must be loaded before trying to instantiate |DynamicPubSubType| objects of these types.
+*Fast DDS* application can use types defined in XML configuration files once those files have been loaded into the
+|DomainParticipantFactory-api| using |DomainParticipantFactory::load_XML_profiles_file-api|.
+Types might be retrieved using |DomainParticipantFactory::get_dynamic_type_builder_from_xml_by_name-api|.
+After getting the DynamicType, objects of |DynamicPubSubType-api| class might be instantiated and used to write/read
+data.
 
 .. literalinclude:: /../code/DDSCodeTester.cpp
     :language: c++
     :start-after: //XML-USAGE
     :end-before: //!--
     :dedent: 8
-
diff --git a/docs/fastdds/xtypes/discovery_matching.rst b/docs/fastdds/xtypes/discovery_matching.rst
new file mode 100644
index 000000000..9ae697942
--- /dev/null
+++ b/docs/fastdds/xtypes/discovery_matching.rst
@@ -0,0 +1,81 @@
+.. include:: ../../03-exports/aliases-api.include
+
+.. _xtypes_discovery_matching:
+
+Remote Data Types Discovery
+===========================
+
+.. _DDS-XTypes specification: https://www.omg.org/spec/DDS-XTypes/1.3
+
+`DDS-XTypes specification`_ defines an internal mechanism to discover the remote data types at runtime and match
+depending on the extensible types compatibility rules configured using the :ref:`typeconsistencyenforcementqospolicy`.
+
+.. note::
+
+     *eProsima Fast DDS* does not support XTypes compatibility check yet.
+
+The remote data type discovery mechanism is based on the exchange of the data type information optimized in order to
+reduce the required bandwidth.
+On the one hand, :code:`TypeInformation` structure defined in the IDL below (extracted from Annex B of the
+`DDS-XTypes specification`_), is used to communicate the Topic Data Type and its dependencies.
+
+.. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+     :language: omg-idl
+     :start-after: //!--TYPEINFORMATION
+     :end-before: //!--
+
+:code:`TypeInformation` includes the :code:`TypeIdentifier`, the data type information hashed which identifies almost
+univocally the data type.
+The data type information is contained in the :code:`TypeObject` union:
+
+.. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+     :language: omg-idl
+     :start-after: //!--TYPEOBJECT
+     :end-before: //!--
+
+The :code:`CompleteTypeObject` includes the data type full description.
+On the other hand, :code:`MinimalTypeObject` only includes the minimum required information in order to check type
+compatibility.
+
+.. important::
+
+     Current TypeObject representation implementation does not support forward declarations or recursive data types
+     defined using the :code:`@external` annotation.
+     Please, remember to disable TypeObject generation code using :code:`-no-typeobjectsupport` option when generating
+     the code using Fast DDS-Gen.
+
+Prerequisites
+-------------
+
+The remote data type discovery feature only works if some requisites are met:
+
+1. The local data types must be registered into the |ITypeObjectRegistry-api|.
+   The types are automatically registered when calling |DomainParticipant::register_type-api| /
+   |TypeSupport::register_type-api| if the code required for registration has been generated using
+   :ref:`eProsima Fast DDS-Gen<fastddsgen_intro>`.
+   Fast DDS-Gen generates the required files (*<IDLFileName>TypeObjectSupport.cxx/.hpp*) by default.
+
+   .. note::
+
+     :code:`-no-typeobjectsupport` option disables the generation of these files and effectively disables the
+     discovery of remote types.
+
+   .. note::
+
+     Currently there is no support to register the TypeObject when the data type is defined using the
+     :ref:`xtypes_language_binding`.
+     Consequently, local types defined using the dynamic language binding API, are not going to be discovered by remote
+     DomainParticipants.
+
+2. :code:`TypeInformation` should be received with the DomainParticipant's endpoint discovery information.
+   A DomainParticipant that does not inform about its :code:`TypeInformation` would not trigger the remote data type
+   discovery mechanism.
+
+If the prerequisites are not met, endpoint matching relies on type name and topic name in order to match the discovered
+endpoints.
+
+Remote types discovery example
+------------------------------
+
+Please, refer to :ref:`use-case-remote-type-discovery-and-matching` for more information about how to leverage this
+feature.
diff --git a/docs/fastdds/xtypes/language_binding.rst b/docs/fastdds/xtypes/language_binding.rst
new file mode 100644
index 000000000..2ea446579
--- /dev/null
+++ b/docs/fastdds/xtypes/language_binding.rst
@@ -0,0 +1,1010 @@
+.. include:: ../../03-exports/aliases.include
+.. include:: ../../03-exports/aliases-api.include
+.. include:: ../../03-exports/roles.include
+
+.. _xtypes_language_binding:
+
+Dynamic Language Binding
+========================
+
+The Dynamic Language Binding API allows to define data types at runtime instead of having the types predefined as it is
+required by the Plain Language Binding.
+This API includes both the type definition and, the getters and setters required to use the defined types.
+Type definition can also be done using a XML configuration file as explained in :ref:`xmldynamictypes` section.
+
+This section presents first the Dynamic Language Binding API, and then the supported types and specific examples
+defining and using those types.
+
+.. _xtypes_interfaces:
+
+Dynamic Language Binding Interfaces
+-----------------------------------
+
+This section briefly presents the Dynamic Language Binding API.
+For more information, please refer both to the `DDS-XTypes specification <https://www.omg.org/spec/DDS-XTypes/1.3>`__
+and the :ref:`API reference<dynamic_language_binding_api>`.
+
+TypeDescriptor
+^^^^^^^^^^^^^^
+
+|TypeDescriptor-api| is in charge of describing the state of a type.
+Objects of this interface have value semantics allowing the TypeDescriptor data to be deeply copied and compared.
+
+AnnotationDescriptor
+^^^^^^^^^^^^^^^^^^^^
+
+|AnnotationDescriptor-api| is in charge of describing the user-defined applied annotation to a specific element.
+Objects of this interface have value semantics allowing the AnnotationDescriptor data to be deeply copied and compared.
+
+MemberDescriptor
+^^^^^^^^^^^^^^^^
+
+|MemberDescriptor-api| is in charge of describing the state of a specific member of a type.
+Objects of this interface have value semantics allowing the MemberDescriptor data to be deeply copied and compared.
+
+VerbatimTextDescriptor
+^^^^^^^^^^^^^^^^^^^^^^
+
+|VerbatimTextDescriptor-api| is in charge of describing the :code:`@verbatim` builtin annotation application.
+Objects of this interface have value semantics allowing the VerbatimTextDescriptor data to be deeply copied and
+compared.
+
+DynamicTypeBuilderFactory
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The |DynamicTypeBuilderFactory-api| serves as a singleton which instance is responsible for both creating and deleting
+|DynamicTypeBuilder-api| objects.
+This class provides the generic |DynamicTypeBuilderFactory::create_type| API, and also specific APIs to define other
+basic types such as strings, sequences, etc.
+More information can be found in :ref:`xtypes_supportedtypes` section.
+
+DynamicType
+^^^^^^^^^^^
+
+|DynamicType-api| objects represents a specific type definition.
+Once the DynamicType has been built, it cannot be modified.
+Objects of this interface have reference semantics, so the API receives a nil-reference which is then returned pointing
+to the correct DynamicType address.
+
+DynamicTypeMember
+^^^^^^^^^^^^^^^^^
+
+|DynamicTypeMember-api| represents a data member of a DynamicType.
+Objects of this interface have reference semantics, so the API receives a nil-reference which is then returned pointing
+to the correct DynamicTypeMember address.
+
+DynamicTypeBuilder
+^^^^^^^^^^^^^^^^^^
+
+|DynamicTypeBuilder-api| interface allows the instantiation of concrete DynamicType objects and serves as a transitional
+state for configuring the DynamicType before its creation.
+Upon definition, DynamicTypeBuilderFactory leverages the information contained in the builder to create
+the DynamicType.
+|DynamicTypeBuilder::build| allows for creating the fully constructed DynamicType.
+Builders remain reusable after DynamicType creation, ensuring changes to the builder do not affect previously
+created types.
+
+DynamicDataFactory
+^^^^^^^^^^^^^^^^^^
+
+|DynamicDataFactory-api| serves as a singleton which instance is responsible for both creating and deleting
+|DynamicData-api| objects from a given DynamicType instance.
+
+DynamicData
+^^^^^^^^^^^
+
+|DynamicData-api| represents a data instance of a DynamicType, providing functionalities to access
+and modify data values.
+Each DynamicData object corresponds to an object of the type represented by its DynamicType.
+Offering reflective getters and setters, DynamicData enables manipulation of individual data samples.
+
+.. _xtypes_supportedtypes:
+
+Supported Types
+---------------
+
+This section describes the supported Type System including examples of how to instantiate those specific types using the
+Dynamic Language Binding API and the XML configuration file.
+The C++ examples also include instantiating the corresponding DynamicData sample, and setting and reading a value.
+
+.. _xtypes_supportedtypes_primitive:
+
+Primitive Types
+^^^^^^^^^^^^^^^
+
+Primitive types are self-describing and can be created without configuration parameters.
+The |DynamicTypeBuilderFactory-api| interface exposes the method |DynamicTypeBuilderFactory::get_primitive_type|
+to allow users to directly get the corresponding primitive DynamicType.
+The |DynamicData-api| class provides specific getters and setters for each primitive data type.
+
+The following table shows the supported primitive types and their corresponding :code:`TypeKind`.
+The :code:`TypeKind` is used to query the DynamicTypeBuilderFactory for the specific primitive DynamicType.
+
+.. list-table::
+    :header-rows: 1
+    :align: left
+
+    * - C++ Type
+      - TypeKind
+    * - :code:`bool`
+      - :code:`TK_BOOLEAN`
+    * - :code:`char`
+      - :code:`TK_CHAR8`
+    * - :code:`wchar_t`
+      - :code:`TK_CHAR16`
+    * - :code:`uint8_t`
+      - :code:`TK_BYTE` / :code:`TK_UINT8`
+    * - :code:`int8_t`
+      - :code:`TK_INT8`
+    * - :code:`int16_t`
+      - :code:`TK_INT16`
+    * - :code:`uint16_t`
+      - :code:`TK_UINT16`
+    * - :code:`int32_t`
+      - :code:`TK_INT32`
+    * - :code:`uint32_t`
+      - :code:`TK_UINT32`
+    * - :code:`int64_t`
+      - :code:`TK_INT64`
+    * - :code:`uint64_t`
+      - :code:`TK_UINT64`
+    * - :code:`float`
+      - :code:`TK_FLOAT32`
+    * - :code:`double`
+      - :code:`TK_FLOAT64`
+    * - :code:`long double`
+      - :code:`TK_FLOAT128`
+
+The example below shows how to create an structure with primitive members.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_PRIMITIVES
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_PRIMITIVES<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_PRIMITIVES
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type,
+please refer to :ref:`XML Primitive Types <xmldynamictypes_primivites>`.
+
+Type promotions
+"""""""""""""""
+
+The Dynamic Language Binding also supports type promotion, enabling implicit promotion of types during both :func:`get`
+and :func:`set` operations.
+This means that a smaller type can be implicitly promoted to a larger type, but not the other way around.
+
+The following promotions are supported:
+
+.. list-table::
+    :header-rows: 1
+    :align: left
+
+    * - TypeKind
+      - Allowed promotions
+    * - :code:`TK_INT8`
+      - :code:`TK_INT16`, :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_INT16`
+      - :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_INT32`
+      - :code:`TK_INT64`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_INT64`
+      - :code:`TK_FLOAT128`
+    * - :code:`TK_UINT8`
+      - :code:`TK_INT16`, :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_UINT16`, :code:`TK_UINT32`, :code:`TK_UINT64`,
+        :code:`TK_FLOAT32`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_UINT16`
+      - :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_UINT32`, :code:`TK_UINT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`,
+        :code:`TK_FLOAT128`
+    * - :code:`TK_UINT32`
+      - :code:`TK_INT64`, :code:`TK_UINT64`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_UINT64`
+      - :code:`TK_FLOAT128`
+    * - :code:`TK_FLOAT32`
+      - :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_FLOAT64`
+      - :code:`TK_FLOAT128`
+    * - :code:`TK_FLOAT128`
+      - (none)
+    * - :code:`TK_CHAR8`
+      - :code:`TK_CHAR16`, :code:`TK_INT16`, :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`,
+        :code:`TK_FLOAT128`
+    * - :code:`TK_CHAR16`
+      - :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+    * - :code:`TK_BYTE`
+      - (any)
+    * - :code:`TK_BOOLEAN`
+      - :code:`TK_INT8`, :code:`TK_INT16`, :code:`TK_INT32`, :code:`TK_INT64`, :code:`TK_UINT8`, :code:`TK_UINT16`,
+        :code:`TK_UINT32`, :code:`TK_UINT64`, :code:`TK_FLOAT32`, :code:`TK_FLOAT64`, :code:`TK_FLOAT128`
+
+
+.. _xtypes_supportedtypes_string:
+
+String Types
+^^^^^^^^^^^^
+
+String types are one-dimensional collections of characters (:code:`TK_CHAR8` or :code:`TK_CHAR16`.
+The latest are also known as wide strings or :code:`wstring`).
+The :code:`TypeKinds` used to identify string types are :code:`TK_STRING8` and :code:`TK_STRING16`.
+The string may be bounded, setting a maximum length, or unbounded.
+This is configured using |TypeDescriptor-api| :code:`bound` property.
+
+|DynamicTypeBuilderFactory-api| exposes the functions |DynamicTypeBuilderFactory::create_string_type| and
+|DynamicTypeBuilderFactory::create_wstring_type| that eases string creation providing the corresponding maximum length
+parameter (:code:`LENGTH_UNLIMITED` is used for unbounded strings).
+
+|DynamicData-api| class provides also with specific getters and setters: |DynamicData::get_string_value|,
+|DynamicData::get_wstring_value|, |DynamicData::set_string_value|, and |DynamicData::set_wstring_value|.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_STRINGS
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_STRINGS<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_STRINGS
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML String Types <xmldynamictypes_strings>`.
+
+
+.. _xtypes_supportedtypes_enumeration:
+
+Enumeration Types
+^^^^^^^^^^^^^^^^^
+
+An enumeration contains a set of supported values (enumeration literals) and a selected value among those supported.
+The :code:`TypeKind` used to identify enumeration types is :code:`TK_ENUM`.
+
+The enumeration literals must be configured using the |DynamicTypeBuilder-api| by calling the
+|DynamicTypeBuilder::add_member| function for the respective supported values.
+The |MemberDescriptor-api| passed to the previous function must determine the enumeration literal name by using
+:code:`name` property.
+The underlying primitive type related to the enumeration is configured using |MemberDescriptor-api| :code:`type`
+property.
+This primitive type is determined when adding the first enumeration literal.
+For the enumeration type to be consistent, the remaining enumeration literals must be of the same primitive type.
+Additionally, the enumeration literal value might be set using |MemberDescriptor-api| :code:`default_value` property.
+The behavior is the same as setting the :code:`@value` :ref:`builtin annotation<builtin_annotations>`.
+
+.. note::
+
+  Currently, Fast DDS-Gen does not support :code:`@value` builtin annotation.
+
+As the enumeration type is basically a primitive type which might take only some specific values defined with the
+enumeration literals, the corresponding DynamicData getters and setters are the ones corresponding to the underlying
+primitive type (and any other method promotable to that specific primitive type).
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_ENUM
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_ENUM<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_ENUM
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Enumeration Types <xmldynamictypes_enums>`.
+
+
+.. _xtypes_supportedtypes_bitmask:
+
+Bitmask Types
+^^^^^^^^^^^^^
+
+Bitmask types are a collection of boolean flags (bitflags) that can be set individually.
+The :code:`TypeKind` used to identify bitmask types is :code:`TK_BITMASK`.
+The bitmasks bound, maximum number of bits, must be set using the |TypeDescriptor-api| :code:`bound` property.
+The maximum bound allowed is 64 bits.
+
+The bitflags must be configured using the |DynamicTypeBuilder-api| by calling the |DynamicTypeBuilder::add_member|
+function.
+Each bitflag is described using a |MemberDescriptor-api| defining the bitflag name using the :code:`name` property.
+The underlying primitive type related to bitflags must be of kind :code:`TK_BOOLEAN` and must be set in
+|MemberDescriptor-api| :code:`type` property.
+The |MemberDescriptor-api| :code:`id` property might be used to indicate the bitflag position within the bitmask.
+This behavior is the same as setting the :code:`@position` :ref:`builtin annotation<builtin_annotations>`.
+If the position is not specified, sequential order is followed.
+
+The |DynamicTypeBuilderFactory-api| exposes the function |DynamicTypeBuilderFactory::create_bitmask_type| to
+facilitate the creation of bitmask types.
+
+Bitmask types can be manipulated either using the |DynamicData::get_boolean_value|/|DynamicData::set_boolean_value| in
+order to set a specific bitflag, or by using the unsigned integer setter/getter corresponding to the bitmask bound.
+In this latest case, only bitflags are going to be set (bits not named are always unset).
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_BITMASK
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_BITMASK<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_BITMASK
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Bitmask Types<xmldynamictypes_bitmask>`.
+
+
+.. _xtypes_supportedtypes_alias:
+
+Alias Types
+^^^^^^^^^^^
+
+Alias types provide an alternative name to an already existing type.
+The :code:`TypeKind` used to identify aliases is :code:`TK_ALIAS`.
+Besides defining the alias name, the underlying type must be set using |TypeDescriptor-api| :code:`base_type` property.
+Alias recursion is supported by defining another alias type as the base type.
+
+Once the |DynamicData-api| is created, information can be accessed as if working with the base type.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_TYPEDEF
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_TYPEDEF<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_TYPEDEF
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Alias Types<xmldynamictypes_typedef>`.
+
+.. _xtypes_supportedtypes_sequence:
+
+Sequence types
+^^^^^^^^^^^^^^
+
+Sequence types are one-dimensional collections of any type.
+The :code:`TypeKind` used to identify sequences is :code:`TK_SEQUENCE`.
+|TypeDescriptor-api| :code:`element_type` property must be set with the collection's type.
+Additionally, :code:`bound` property must also be configured with the sequence's maximum length, or
+:code:`LENGTH_UNLIMITED` in case of unbounded sequences.
+
+|DynamicTypeBuilderFactory-api| exposes the function |DynamicTypeBuilderFactory::create_sequence_type| to
+facilitate the creation of this type.
+This API requires the type stored in the collection and the collection's bound, using :code:`LENGTH_UNLIMITED` in case
+of unbounded sequences.
+
+|DynamicData-api| class provides specific :func:`get_values` and :func:`set_values` functions for each primitive
+type, allowing users to easily work with sequences of primitive types.
+Primitive type promotion is also applicable for these methods.
+For sequences of more complex types, please refer to :ref:`xtypes_complextypes`.
+
+If a specific range of values within the sequence are to be modified, passing the starting index to
+:func:`get_values` / :func:`set_values` would only manage data from that element forward until the length of the given
+input.
+Specific collection's element can be also be modified using the :func:`get_value` / :func:`set_value` passing the index
+of the element to be modified.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_SEQUENCES
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_SEQUENCES<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_SEQUENCES
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Sequence Types <xmldynamictypes_sequence>`.
+
+.. _xtypes_supportedtypes_array:
+
+Array types
+^^^^^^^^^^^
+
+Array types are multi-dimensional collections of any type.
+The :code:`TypeKind` used to identify arrays is :code:`TK_ARRAY`.
+|TypeDescriptor-api| :code:`element_type` property must be set with the collection's type.
+Additionally, :code:`bound` property must be configured with the sequence containing the size of each dimension.
+Bound sequence must have at least one dimension and it is not allowed for any dimension to have size :code:`0`.
+
+|DynamicTypeBuilderFactory-api| exposes the function |DynamicTypeBuilderFactory::create_array_type| to
+facilitate the creation of this type.
+This API requires the type stored in the collection and the sequence with the collection's dimensions.
+
+|DynamicData-api| class provides specific :func:`get_values` and :func:`set_values` functions for each primitive
+type, allowing users to easily work with arrays of primitives types.
+For arrays of more complex types, please refer to :ref:`xtypes_complextypes`.
+
+.. note::
+
+    Multi-dimensional arrays *flatten* every dimension into a single-dimension array.
+
+Primitive type promotion is also applicable for these methods.
+
+If a specific range of values within the array are to be modified, passing the starting index to
+:func:`get_values` / :func:`set_values` would only manage data from that element forward until the length of the given
+input.
+Specific collection's element can be also be modified using the :func:`get_value` / :func:`set_value` passing the index
+of the element to be modified.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_ARRAYS
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_ARRAYS<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_ARRAYS
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Array Types<xmldynamictypes_array>`.
+
+.. _xtypes_supportedtypes_map:
+
+Map Types
+^^^^^^^^^
+
+Map types are a collection of key/value pair types.
+Access to the value element is done through the key which is unique within the map type.
+The :code:`TypeKind` used to identify maps is :code:`TK_MAP`.
+|TypeDescriptor-api| :code:`element_type` property must be set with the map value type.
+|TypeDescriptor-api| :code:`key_type` property must be set with the map key type.
+Allowed key types are signed and unsigned integer types and string types.
+
+.. note::
+
+  Currently, wide string keys are not supported as map keys.
+
+Additionally, :code:`bound` property must also be configured with the map's maximum length, or :code:`LENGTH_UNLIMITED`
+in case of unbounded maps.
+
+|DynamicTypeBuilderFactory-api| exposes the |DynamicTypeBuilderFactory::create_map_type| function to
+facilitate the creation of this type.
+This API requires the type of both the key and the value stored in the collection, and the collection's bound, using
+:code:`LENGTH_UNLIMITED` in case of unbounded maps.
+
+Manipulating map types data is more complex.
+First the :code:`MemberId` corresponding to a specific :code:`key` must be retrieved using
+|DynamicData::get_member_id_by_name| API.
+This API either returns the :code:`MemberId` corresponding to the existing :code:`key` or, if the :code:`key` does not
+exist yet, it creates the :code:`key` and returns the :code:`memberId` associated to the just created :code:`key`.
+In order to call this method, the correct :code:`string` representation of the key value must be passed.
+The map value can now be set using the API corresponding to the map value type.
+For complex map values, please refer to :ref:`xtypes_complextypes`.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_MAPS
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_MAPS<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_MAPS
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Map Types<xmldynamictypes_map>`.
+
+.. _xtypes_supportedtypes_structure:
+
+Structure Types
+^^^^^^^^^^^^^^^
+
+Structure types are an aggregation of members of different types.
+The :code:`TypeKind` used to identify structures is :code:`TK_STRUCTURE`.
+Structure types have single inheritance support, so a structure type might extend one other already defined structure.
+The structure type which is extended should be configured in the |TypeDescriptor-api| :code:`base_type` property.
+:ref:`Structure extensibility<extensibility>` might be configured using |TypeDescriptor-api| :code:`extensibility_kind`
+property.
+
+.. note::
+
+  Currently, :code:`@nested` builtin annotation is not supported.
+
+Structure members must be configured using the |DynamicTypeBuilder-api| by calling the |DynamicTypeBuilder::add_member|
+function with the corresponding |MemberDescriptor-api|.
+
+.. note::
+
+  Empty structures, with no members, are allowed.
+
+Member name is configured using |MemberDescriptor-api| :code:`name` property and the member type is set using
+:code:`type` property.
+Structure members might be keyed to create :ref:`topic instances<dds_layer_topic_instances>` by setting the
+|MemberDescriptor-api| :code:`is_key` property.
+The behavior is the same as setting the :code:`@key` :ref:`builtin annotation<builtin_annotations>`.
+Additionally, |MemberDescriptor-api| :code:`default_value` property might be set to configure the member default value,
+and |MemberDescriptor-api| :code:`id` property sets explicitly the member ID.
+This behavior is the same as setting the :code:`@default` and :code:`@id`
+:ref:`builtin annotations<builtin_annotations>`.
+
+.. note::
+
+  Currently, Fast DDS-Gen does not support :code:`@default` builtin annotation.
+
+.. note::
+
+  Currently, Dynamic Language Binding API implementation does not support the following builtin annotations:
+
+  * :code:`@optional`
+  * :code:`@must_understand`
+  * :code:`@external`
+  * :code:`@try_construct`
+
+Member data can be managed using the corresponding accessors for the underlying member type.
+Member ID might be retrieved using |DynamicData::get_member_id_by_name| API.
+For managing complex type members, please refer to :ref:`xtypes_complextypes`.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_STRUCT
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_STRUCT<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_STRUCT
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Structure Types<xmldynamictypes_struct>`.
+
+.. _xtypes_supportedtypes_union:
+
+Union Types
+^^^^^^^^^^^
+
+Union types are a special type of structure type where only one member exists.
+The :code:`TypeKind` used to identify unions is :code:`TK_UNION`.
+Member selection is performed by setting another special member called discriminator.
+The discriminator type must be defined using |TypeDescriptor-api| :code:`discriminator_type` property.
+Supported discriminator :code:`TypeKind` are the following:
+
+* :code:`TK_BOOLEAN`
+* :code:`TK_BYTE`
+* :code:`TK_CHAR8`
+* :code:`TK_CHAR16`
+* :code:`TK_INT8`
+* :code:`TK_UINT8`
+* :code:`TK_INT16`
+* :code:`TK_UINT16`
+* :code:`TK_INT32`
+* :code:`TK_UINT32`
+* :code:`TK_INT64`
+* :code:`TK_UINT64`
+* :code:`TK_ENUM`
+* :code:`TK_ALIAS` that resolves, directly or indirectly to one of the aforementioned types.
+
+:ref:`Union extensibility<extensibility>` might be configured using |TypeDescriptor-api| :code:`extensibility_kind`
+property.
+
+.. note::
+
+  Currently, :code:`@nested` builtin annotation is not supported.
+
+Union members must be configured using the |DynamicTypeBuilder-api| by calling the |DynamicTypeBuilder::add_member|
+function with the corresponding |MemberDescriptor-api|.
+At least one union member must be added to the union type.
+Union member name is configured using |MemberDescriptor-api| :code:`name` property and the member type is set using
+:code:`type` property.
+It is also mandatory to either set |MemberDescriptor-api| :code:`is_default_label` property or configure the
+:code:`label` property.
+This latest property indicates the discriminator values that select this specific member.
+If no labels are configured, then the flag indicating the member to be the default one, must be set.
+Only one union member must be configured as default.
+
+Additionally, |MemberDescriptor-api| :code:`default_value` property might be set to configure the member default value,
+and |MemberDescriptor-api| :code:`id` property sets explicitly the member ID.
+This behavior is the same as setting the :code:`@default` and :code:`@id`
+:ref:`builtin annotations<builtin_annotations>`.
+
+.. note::
+
+  Currently, Fast DDS-Gen does not support :code:`@default` builtin annotation.
+
+.. note::
+
+  Currently, Dynamic Language Binding API implementation does not support the following builtin annotations:
+
+  * :code:`@optional`
+  * :code:`@must_understand`
+  * :code:`@external`
+  * :code:`@try_construct`
+
+Member data can be managed using the corresponding accessors for the underlying member type.
+Setting a member automatically changes the discriminator value selecting the set member.
+When reading a member, the discriminator must be selecting the member being read.
+Member ID might be retrieved using |DynamicData::get_member_id_by_name| API.
+For managing complex type members, please refer to :ref:`xtypes_complextypes`.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_UNION
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_UNION<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_UNION
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Union Types<xmldynamictypes_union>`.
+
+.. _xtypes_supportedtypes_bitset:
+
+Bitset Types
+""""""""""""
+
+Bitset types are an aggregation of bitfields.
+The :code:`TypeKind` used to identify bitsets is :code:`TK_BITSET`.
+:code:`bound` property contains the sequence with the bitfield's bitcount (number of bits).
+In order to be consistent, the length of the :code:`bound` sequence must agree with the number of bitfields.
+Bitset types have single inheritance support, so a bitset type might extend one other already defined bitset.
+The bitset type which is extended should be configured in the |TypeDescriptor-api| :code:`base_type` property.
+
+Bitfields must be configured using the |DynamicTypeBuilder-api| by calling the |DynamicTypeBuilder::add_member|
+function with the corresponding |MemberDescriptor-api|.
+At least one bitfield is required for the bitset to be consistent.
+Bitfield name is configured using |MemberDescriptor-api| :code:`name` property, and the bitfield initial bit position
+is set using |MemberDescriptor-api| :code:`id` property.
+
+.. note::
+
+  For derived bitsets, the first bitfield initial position must be after the bits defined by the parent bitset type.
+
+A bitfield manages exclusively a set of bits, so no bitfield superposition is allowed.
+Additionally, |MemberDescriptor-api| :code:`type` property might be set to configure an integer type to access bitfield
+data.
+If not set, the minimum unsigned integer type is used instead:
+
+.. list-table::
+    :header-rows: 1
+    :align: left
+
+    * - Number of bits
+      - C++ holder type
+    * - :code:`1`
+      - :code:`bool`
+    * - :code:`2-8`
+      - :code:`uint8_t`
+    * - :code:`9-16`
+      - :code:`uint16_t`
+    * - :code:`17-32`
+      - :code:`uint32_t`
+    * - :code:`33-64`
+      - :code:`uint64_t`
+
+Each bitfield (or member) works like its primitive type with the only difference that the internal storage only
+modifies the involved bits instead of the full primitive value.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_BITSET
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_BITSET<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_BITSET
+            :end-before: //!--
+
+For a detailed explanation about the XML definition of this type, please refer to
+:ref:`XML Bitset Types<xmldynamictypes_bitset>`.
+
+Annotations
+^^^^^^^^^^^
+
+Custom annotations
+""""""""""""""""""
+
+Both types and type members might be annotated using |DynamicTypeBuilder::apply_annotation| and
+|DynamicTypeBuilder::apply_annotation_to_member| API respectively.
+
+Annotations are defined using an |AnnotationDescriptor-api| which provides two properties: :code:`type` and
+:code:`value`.
+The annotation type must be the DynamicType representing the annotation being applied.
+The :code:`TypeKind` used to identify annotations is :code:`TK_ANNOTATION`.
+The annotation name is set in |TypeDescriptor-api| :code:`name` property.
+
+The annotation type might have any number of parameters.
+Annotation parameters must be configured  using the |DynamicTypeBuilder-api| by calling the
+|DynamicTypeBuilder::add_member| function with the corresponding |MemberDescriptor-api|.
+Annotation parameters must define the annotation parameter name in |MemberDescriptor-api| :code:`name` property,
+and the parameter type using :code:`type` property.
+Only the following types can be used to define an annotation parameter:
+
+* `Primitive types`_
+* `String types`_
+* `Enumeration types`_
+
+.. note::
+
+  Currently, wide string types are not supported as annotation parameters.
+
+Annotation parameter values are defined with |AnnotationDescriptor-api| :code:`value` property using
+|AnnotationDescriptor::set_value-api|.
+The annotation parameter name provided to the API must coincide with the one defined with the annotation type.
+The annotation parameter value must be converted to its string representation.
+
+.. note::
+
+  Currently, custom annotations are not supported with :ref:`XML DynamicTypes <xmldynamictypes>`.
+
+.. tabs::
+
+    .. tab:: IDL
+
+        .. literalinclude:: /../code/DynamicTypesIDLExamples.idl
+            :language: omg-idl
+            :start-after: //!--IDL_CUSTOM_ANNOTATION
+            :end-before: //!--
+
+    .. tab:: XML
+
+        .. literalinclude:: /../code/XMLTester.xml
+            :language: xml
+            :start-after: <!-->XML_CUSTOM_ANNOTATION<-->
+            :end-before: <!--><-->
+
+    .. tab:: C++
+
+        .. literalinclude:: /../code/DDSCodeTester.cpp
+            :language: c++
+            :start-after: //!--CPP_CUSTOM_ANNOTATION
+            :end-before: //!--
+
+
+Builtin annotations
+"""""""""""""""""""
+
+Beside the user-defined custom annotations, there are a number of builtin annotations that have already mentioned
+throughout this section.
+
+The table below summarizes the builtin annotations that can be applied using the Dynamic Language Binding API.
+Please, refer to :ref:`builtin annotations <builtin_annotations>` for the complete list and their behavior.
+
+.. list-table::
+    :header-rows: 1
+    :align: left
+
+    * - Builtin annotation
+      - Dynamic Language Binding API
+      - Dynamic Language Binding support
+      - XML Dynamic Type profiles support
+    * - :code:`@appendable`
+      - |TypeDescriptor-api| :code:`extensibility_kind` property.
+      - ✅
+      - ❌
+    * - :code:`@bit_bound`
+      - |TypeDescriptor-api| :code:`bound` property.
+      - ✅
+      - ✅❌ (`Enumeration types`_ not configurable).
+    * - :code:`@default`
+      - |MemberDescriptor-api| :code:`default_value` property.
+      - ✅
+      - ❌
+    * - :code:`default_literal`
+      - |MemberDescriptor-api| :code:`is_default_label` property.
+      - ✅
+      - ❌
+    * - :code:`@extensibility`
+      - |TypeDescriptor-api| :code:`extensibility_kind` property.
+      - ✅
+      - ❌
+    * - :code:`@external`
+      - |MemberDescriptor-api| :code:`is_shared` property.
+      - ❌
+      - ❌
+    * - :code:`@final`
+      - |TypeDescriptor-api| :code:`extensibility_kind` property.
+      - ✅
+      - ❌
+    * - :code:`@id`
+      - |MemberDescriptor-api| :code:`id` property.
+      - ✅
+      - ❌
+    * - :code:`@key` / :code:`@Key`
+      - |MemberDescriptor-api| :code:`is_key` property.
+      - ✅
+      - ❌
+    * - :code:`@mutable`
+      - |TypeDescriptor-api| :code:`extensibility_kind` property.
+      - ✅
+      - ❌
+    * - :code:`@nested`
+      - |TypeDescriptor-api| :code:`is_nested` property.
+      - ❌
+      - ❌
+    * - :code:`@optional`
+      - |MemberDescriptor-api| :code:`is_optional` property.
+      - ❌
+      - ❌
+    * - :code:`@position`
+      - |MemberDescriptor-api| :code:`id` property.
+      - ✅
+      - ✅
+    * - :code:`@try_construct`
+      - |MemberDescriptor-api| :code:`try_construct_kind` property.
+      - ❌
+      - ❌
+    * - :code:`@value`
+      - |MemberDescriptor-api| :code:`default_value` property.
+      - ✅
+      - ✅
+    * - :code:`@verbatim`
+      - |VerbatimTextDescriptor-api|
+      - ❌
+      - ❌
+
+To apply the :code:`@extensibility` annotation (and its shortcuts) the |TypeDescriptor-api| provides
+:code:`extensibility_kind` property.
+
+:code:`@key` annotation is applied enabling |MemberDescriptor-api| :code:`is_key` property.
+
+.. _xtypes_complextypes:
+
+Managing Complex Types Data
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Some |DynamicData-api| instances manage complex types that cannot be directly modified with the primitive getters and
+setters.
+Dynamic Language Binding provides two possible approaches for managing complex data types:
+
+1. |DynamicData::get_complex_value| and |DynamicData::set_complex_value|: This API allows to get/set generic DynamicData.
+   The main difference with the next approach is that this API performs always a copy.
+2. |DynamicData::loan_value|: this API allows to loan a reference to a DynamicData to work with preventing the data copy.
+   |DynamicData::return_loaned_value| must be called to return the loan.
+   Calling |DynamicData::loan_value| for an already loaned value will fail.
+
+The following snippet includes an example of managing complex data using the same structure as the one defined in
+`Structure types`_:
+
+.. literalinclude:: /../code/DDSCodeTester.cpp
+    :language: c++
+    :start-after: //!--CPP_COMPLEX_DATA
+    :end-before: //!--
diff --git a/docs/fastdds/xtypes/xtypes.rst b/docs/fastdds/xtypes/xtypes.rst
new file mode 100644
index 000000000..da79d8c53
--- /dev/null
+++ b/docs/fastdds/xtypes/xtypes.rst
@@ -0,0 +1,30 @@
+.. _dynamic-types:
+
+XTypes
+======
+
+.. _Extensible and Dynamic Topic Types for DDS: https://www.omg.org/spec/DDS-XTypes/1.3
+
+*eProsima Fast DDS* supports the OMG `Extensible and Dynamic Topic Types for DDS`_ specification (also known as XTypes).
+This specification defines the following concepts:
+
+* DDS supported type system, including the concept of extensible types that might evolve in time.
+
+.. note::
+
+  This section also defines the type compatibility rules among evolved types which is still unsupported in Fast DDS.
+
+* Type representation, including :ref:`IDL<fastddsgen_idl_datatypes>` and :ref:`TypeObject<xtypes_discovery_matching>`
+  representations.
+* Data representation over the wire.
+* Language binding, defining both a plain and a dynamic language binding.
+  :ref:`eProsima Fast DDS-Gen<fastddsgen_intro>` generates the plain language binding given an IDL type representation.
+  :ref:`xtypes_language_binding` section explains the required API to define and set/read the data types.
+* DDS builtin mechanism to automatically discover remote data types.
+  More information in :ref:`xtypes_discovery_matching` section.
+
+.. toctree::
+   :maxdepth: 3
+
+   /fastdds/xtypes/discovery_matching.rst
+   /fastdds/xtypes/language_binding.rst
diff --git a/docs/fastddsgen/dataTypes/dataTypes.rst b/docs/fastddsgen/dataTypes/dataTypes.rst
index 5b8aca60f..0c011b5ce 100644
--- a/docs/fastddsgen/dataTypes/dataTypes.rst
+++ b/docs/fastddsgen/dataTypes/dataTypes.rst
@@ -1,3 +1,4 @@
+.. include:: ../../03-exports/aliases-api.include
 .. include:: ../../03-exports/roles.include
 
 .. _fastddsgen_idl_datatypes:
@@ -452,8 +453,7 @@ Annotations
 --------------
 
 The application allows the user to define and use their own annotations as defined in the
-`OMG IDL 4.2 specification <https://www.omg.org/spec/IDL/4.2/>`_.
-User annotations will be passed to TypeObject generated code if the ``-typeobject`` argument was used.
+`OMG IDL specification <https://www.omg.org/spec/IDL/4.2/>`_.
 
 .. code-block:: omg-idl
 
@@ -463,73 +463,122 @@ User annotations will be passed to TypeObject generated code if the ``-typeobjec
         string name;
     };
 
-Additionally, the following standard annotations are builtin (recognized and passed to TypeObject when unimplemented).
-
-+-------------------------+--------------------------------------------------------------------------------------------+
-| Annotation              | Implemented behavior                                                                       |
-+=========================+============================================================================================+
-| @id                     | [Unimplemented] Assign a 32-bit integer identifier to an element.                          |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @autoid                 | [Unimplemented] Automatically allocate identifiers to the elements.                        |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @optional               | Setting an element as optional. More info in `Optional Members`_.                          |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @extensibility          | Applied to any element which is constructed. Allow specifying how the |br|                 |
-|                         | element is allowed to evolve. More info in Extensibility_.                                 |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @final                  | Shortcut for `@extensibility(FINAL)`                                                       |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @appendable             | Shortcut for `@extensibility(APPENDABLE)`                                                  |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @mutable                | Shortcut for `@extensibility(MUTABLE)`                                                     |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @position               | Setting a position to an element or group of elements. Used by bitmasks_.                  |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @value                  | [Unimplemented] Allow setting a constant value to any element.                             |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @key                    | Alias for eProsima's @Key annotation. Indicate that a data member is part of the key |br|  |
-|                         | (please refer to :ref:`dds_layer_topic_instances` for more information).                   |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @must_understand        | [Unimplemented] Indicate that the data member must be understood by any application |br|   |
-|                         | making use of that piece of data.                                                          |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @default_literal        | [Unimplemented] Allow selecting one member as the default within a collection.             |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @default                | Allow specifying the default value of the annotated element.                               |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @range                  | [Unimplemented] Allow specifying a range of allowed values for the annotated element.      |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @min                    | [Unimplemented] Allow specifying a minimum value for the annotated element.                |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @max                    | [Unimplemented] Allow specifying a maximum value for the annotated element.                |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @unit                   | [Unimplemented] Allow specifying a unit of measurement for the annotated element.          |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @bit_bound              | Allow setting a size to a bitmasks_.                                                       |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @external               | [Unimplemented] Force the annotated element to be placed in a dedicated data space.        |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @nested                 | [Unimplemented] Allow indicating that the objects from the type under annotation will |br| |
-|                         | always be nested within another one.                                                       |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @verbatim               | [Unimplemented] Allow injecting some user-provided information into what the compiler |br| |
-|                         | will generate.                                                                             |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @service                | [Unimplemented] Allow indicating that an interface is to be treated as a service.          |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @oneway                 | [Unimplemented] Allow indicating that an operation is one way only, meaning that |br|      |
-|                         | related information flow will go from client to server but not back.                       |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @ami                    | [Unimplemented] Allow indicating that an interface or an operation is to be made |br|      |
-|                         | callable asynchronously.                                                                   |
-+-------------------------+--------------------------------------------------------------------------------------------+
-| @non_serialized         | The annotated member will be omitted from serialization.                                   |
-+-------------------------+--------------------------------------------------------------------------------------------+
-
-Most unimplemented annotations are related to Extended Types.
+.. _builtin_annotations:
+
+Additionally, the following standard annotations are defined by the specification and considered builtin (these
+annotations might be applied without the need of defining them).
+
+.. list-table::
+    :header-rows: 1
+    :align: left
+
+    * - Builtin Annotation
+      - Behavior
+      - Supported
+    * - :code:`@ami`
+      - Asynchronous interface or operation.
+      - ❌
+    * - :code:`@appendable`
+      - Shortcut for :code:`@extensibility(APPENDABLE)`.
+      - ✅
+    * - :code:`@autoid`
+      - Member ID algorithm configuration if there is no member ID explicitly set using :code:`@id` annotation. |br|
+        Possible values are :code:`SEQUENTIAL` (member ID is assigned sequentially. Default value) or |br|
+        :code:`HASH` (member ID is calculated with an algorithm involving hashing the member name). |br|
+        This annotation might be defined in module, structure or union declarations.
+      - ✅
+    * - :code:`@bit_bound`
+      - Set number of bits on `bitmasks`_ and `enumerations`_ underlying primitive type. |br|
+        Currently, :code:`@bit_bound` can only be applied to bitmask types.
+      - ✅❌
+    * - :code:`@data_representation`
+      - Specify the |DataRepresentationId-api| required for a specific type.
+      - ❌
+    * - :code:`@default`
+      - Set constant default value to a member.
+      - ❌
+    * - :code:`@default_literal`
+      - Mark an `enumerations`_ literal as default.
+      - ❌
+    * - :code:`@default_nested`
+      - Use in module declaration to mark as :code:`@nested` every element defined within the module.
+      - ❌
+    * - :code:`@extensibility`
+      - Applicable to any constructed element.
+        Specify how the element is allowed to evolve. |br|
+        Please, refer to Extensibility_ for more information.
+      - ✅
+    * - :code:`@external`
+      - Member is stored in external storage.
+      - ✅
+    * - :code:`@final`
+      - Shortcut for :code:`@extensibility(FINAL)`
+      - ✅
+    * - :code:`@hashid`
+      - Calculate the member ID with the string provided or, if empty, with the member name.
+      - ✅
+    * - :code:`@id`
+      - Assign member ID to a structure or union member.
+      - ✅
+    * - :code:`@ignore_literal_names`
+      - When checking evolved type compatibility, take or not into account member names.
+      - ❌
+    * - :code:`@key`
+      - Mark a structure member as part of the key. :code:`@Key` is also supported. |br|
+        Please, refer to :ref:`dds_layer_topic_instances` for more information.
+      - ✅
+    * - :code:`@max`
+      - Set a maximum constant value to the member.
+      - ❌
+    * - :code:`@min`
+      - Set a minimum constant value to the member.
+      - ❌
+    * - :code:`@must_understand`
+      - Mark a structure member as essential for the structure cohesion.
+      - ❌
+    * - :code:`@mutable`
+      - Shortcut for :code:`@extensibility(MUTABLE)`
+      - ✅
+    * - :code:`@nested`
+      - Type is always used within another one.
+      - ❌
+    * - :code:`@non_serialized`
+      - Omit member during serialization.
+      - ❌
+    * - :code:`@oneway`
+      - One-way operation, flowing the information only on one direction.
+      - ❌
+    * - :code:`@optional`
+      - Configure a structure member as optional. Please refer to `Optional Members`_ for more information.
+      - ✅
+    * - :code:`@position`
+      - Set a bitflag position in `bitmasks`_.
+      - ✅
+    * - :code:`@range`
+      - Set a range of allowed values for the member.
+      - ❌
+    * - :code:`@service`
+      - Interface is to be treated as a service.
+      - ❌
+    * - :code:`@topic`
+      - Structure or union is meant to be used as Topic Data Type.
+      - ❌
+    * - :code:`@try_construct`
+      - When checking evolved type compatibility, configure the behavior for |br|
+        collection/aggregated types construction and what to do in case of failure.
+      - ❌
+    * - :code:`@unit`
+      - Specify a unit of measurement for the member.
+      - ❌
+    * - :code:`@value`
+      - Set constant value to `enumerations`_ literal.
+      - ❌
+    * - :code:`@verbatim`
+      - Add comment or text to the element.
+      - ❌
 
 Forward declaration
----------------------
+-------------------
 
 *Fast DDS-Gen* supports forward declarations.
 This allows declaring inter-dependant structures, unions, etc.
diff --git a/docs/fastddsgen/pubsub_app/includes/workspace.rst b/docs/fastddsgen/pubsub_app/includes/workspace.rst
index e74810232..4a263922e 100644
--- a/docs/fastddsgen/pubsub_app/includes/workspace.rst
+++ b/docs/fastddsgen/pubsub_app/includes/workspace.rst
@@ -18,8 +18,7 @@ The file ``build/HelloWorld`` is the generated *Fast DDS* application.
         │   ├── libHelloWorld_lib.a
         │   └── Makefile
         ├── CMakeLists.txt
-        ├── HelloWorld.cxx
-        ├── HelloWorld.h
+        ├── HelloWorld.hpp
         ├── HelloWorld.idl
         ├── HelloWorldCdrAux.hpp
         ├── HelloWorldCdrAux.ipp
@@ -29,7 +28,9 @@ The file ``build/HelloWorld`` is the generated *Fast DDS* application.
         ├── HelloWorldPubSubTypes.cxx
         ├── HelloWorldPubSubTypes.h
         ├── HelloWorldSubscriber.cxx
-        └── HelloWorldSubscriber.h
+        ├── HelloWorldSubscriber.h
+        ├── HelloWorldTypeObjecSupport.cxx
+        └── HelloWorldTypeObjecSupport.h
 
 Execute the following command to create the directory in which the files generated by *Fast DDS-Gen* will be saved.
 
diff --git a/docs/fastddsgen/usage/usage.rst b/docs/fastddsgen/usage/usage.rst
index 1ca0e4fc1..6145f509a 100644
--- a/docs/fastddsgen/usage/usage.rst
+++ b/docs/fastddsgen/usage/usage.rst
@@ -45,7 +45,7 @@ The expected argument list of the application is:
 
     fastddsgen [<options>] <IDL file> [<IDL file> ...]
 
-Where the option choices are:
+Where the options are:
 
 .. list-table::
    :header-rows: 1
@@ -53,18 +53,13 @@ Where the option choices are:
 
    * - Option
      - Description
-   * - -cdr
-     - Sets the Fast CDR version used to generate types source code. |br|
-       Values: |br|
-       - v1. Generate source code for Fast CDR v1. |br|
-       - v2 (default). Generate source code for Fast CDR v2. |br|
-       - both. Generate source code for both Fast CDR v1 and Fast CDR v2.
    * - -cs
-     - Enables Case Sensitivity
+     - Enables case sensitivity in variable names.
    * - -d <directory>
-     - Sets the output directory where the generated files are created.
-   * - -flat-output-dir
-     - Ignore input files relative paths and place all generated files in the specified output directory.
+     - Sets the output directory for the generated files.
+   * - -default-container-prealloc-size
+     - Sets the default preallocated size for unbounded collections (sequences and maps) |br|
+       Default value: 0 (empty collection).
    * - -default_extensibility <extensibility> |br|
        -de <extensibility>
      - Sets the default extensibility for types without the @extensibility annotation. |br|
@@ -81,10 +76,19 @@ Where the option choices are:
        This option expects the location of the template and the location of the file where source code output will be
        stored. |br|
        A custom template example can be found in this `link <https://raw.githubusercontent.com/eProsima/Fast-DDS-Gen/master/resources/Custom.stg>`_
+   * - -flat-output-dir
+     - Ignores input files relative paths and place all generated files in the specified output directory.
    * - -help
      - Shows the help information
    * - -I <directory>
-     - Add directory to preprocessor include paths.
+     - Adds directory to preprocessor include paths.
+   * - -no-typesupport
+     - Avoids generating the type support files.
+   * - -no-typeobjectsupport
+     - Avoids generating the TypeObject support specific files. |br|
+       Enabled automatically if -no-typesupport argument is used.
+   * - -no-dependencies
+     - Avoids processing the dependent IDL files.
    * - -ppDisable
      - Disables the preprocessor.
    * - -ppPath
@@ -92,17 +96,13 @@ Where the option choices are:
    * - -python
      - Generates source code and a CMake solution to compile a library containing the data types |br|
        Python bindings required to run a *Fast DDS* Python-based application.
-       This option is |br|
-       incompatible with the `-example` and `-typeobject` ones.
+       This option is incompatible with `-example`.
    * - -replace
      - Replaces the generated source code files even if they exist.
    * - -t <directory>
      - Sets a specific directory as a temporary directory.
-   * - -typeobject
-     - Generates `TypeObject` files for the IDL provided and modifies MyType constructor to |br|
-       register the TypeObject representation into the factory.
    * - -typeros2
-     - Generates type naming compatible with ROS 2
+     - Generates type naming compatible with ROS 2.
    * - -version
      - Shows the current version of eProsima *Fast DDS-Gen*.
 
diff --git a/docs/index.rst b/docs/index.rst
index e31ab6f71..6d7dc2843 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -49,7 +49,7 @@
    /fastdds/env_vars/env_vars
    /fastdds/property_policies/property_policies
    /fastdds/statistics/statistics
-   /fastdds/dynamic_types/dynamic_types
+   /fastdds/xtypes/xtypes
    /fastdds/use_cases/use_cases
    /fastdds/ros2/ros2
    /fastdds/troubleshooting/troubleshooting
diff --git a/docs/notes/previous_versions/v2.11.0.rst b/docs/notes/previous_versions/v2.11.0.rst
index 53eb8c78a..70132d34a 100644
--- a/docs/notes/previous_versions/v2.11.0.rst
+++ b/docs/notes/previous_versions/v2.11.0.rst
@@ -6,7 +6,7 @@ This release includes the following **features**:
 1. :ref:`Ignore every local endpoint within the DomainParticipant preventing local matching
    <property_ignore_local_endpoints>`.
 2. Extend DynamicDataHelper API providing a ``print`` overload with ``std::ostream`` as parameter.
-3. :ref:`typelookup_config`.
+3. TypeLookup Service settings.
 4. Static Discovery XSD Schema.
 
 This release includes the following **improvements**:
diff --git a/docs/notes/previous_versions/v2.4.2.rst b/docs/notes/previous_versions/v2.4.2.rst
index 33198745a..0a09f8a88 100644
--- a/docs/notes/previous_versions/v2.4.2.rst
+++ b/docs/notes/previous_versions/v2.4.2.rst
@@ -6,7 +6,7 @@ This release includes the following **improvements**:
 1. Enable memory protection on :ref:`DataSharing <datasharing-delivery>` readers
 2. Add const overload of ``DataReader::guid()``
 3. Set recommended statistics :ref:`DataReaderQos <statistics_datareader_qos>` to ``PREALLOCATED_WITH_REALLOC``
-4. Allow fully qualified name on :ref:`MemberDescriptor <dynamictypes_overview_memberdescriptor>`
+4. Allow fully qualified name on MemberDescriptor
 
 This release includes the following bugfixes:
 
diff --git a/docs/spelling_wordlist.txt b/docs/spelling_wordlist.txt
index 142df4750..5da12fef3 100644
--- a/docs/spelling_wordlist.txt
+++ b/docs/spelling_wordlist.txt
@@ -31,6 +31,7 @@ backports
 benchmarking
 bitfield
 Bitfields
+bitflags
 bitmask
 bitmasks
 bitset
@@ -144,6 +145,7 @@ ifaddrs
 ifreq
 ignoreParticipantFlags
 initializations
+instantiation
 interoperability
 interprocess
 intra
@@ -208,6 +210,7 @@ postfixed
 ppDisable
 ppPath
 pre
+prealloc
 preallocate
 preallocated
 preallocates
@@ -270,10 +273,12 @@ Topologies
 txqueuelen
 typeobject
 TypeObject
+typeobjectsupport
 typeros
 typeros2
 typesupport
 uint
+UInt
 uncheck
 unicast
 unidimensional