diff --git a/test/examples/CMakeLists.txt b/test/examples/CMakeLists.txt
index 752b05ef2e9..9e8db93668c 100644
--- a/test/examples/CMakeLists.txt
+++ b/test/examples/CMakeLists.txt
@@ -25,6 +25,8 @@ endif()
 set(FILE_EXTENSION "")
 set(DOCKER_IMAGE_NAME "")
 set(SHELL_EXECUTABLE "")
+set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "")
+set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH "")
 
 # Linux configurations
 if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
@@ -56,6 +58,13 @@ else()
     message(FATAL_ERROR "Unsupported platform")
 endif()
 
+# Configure TinyXML2 library path if installed in user library path
+if(NOT (TINYXML2_FROM_SOURCE OR TINYXML2_FROM_THIRDPARTY))
+    get_filename_component(TINYXML2_LIB_DIR ${TINYXML2_LIBRARY} DIRECTORY)
+    set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "- ${TINYXML2_LIB_DIR}:${TINYXML2_LIB_DIR}")
+    set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH ":${TINYXML2_LIB_DIR}")
+endif()
+
 # Find all docker compose yml files for testing
 file(GLOB files RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/*.yml)
 
diff --git a/test/examples/basic_configuration.compose.yml b/test/examples/basic_configuration.compose.yml
index b6ca5c1d4c8..a07ff0196ef 100644
--- a/test/examples/basic_configuration.compose.yml
+++ b/test/examples/basic_configuration.compose.yml
@@ -7,9 +7,10 @@ services:
     volumes:
       - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
       - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
       # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@
+      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
       EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/dds/BasicConfigurationExample
     command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/BasicConfigurationExample@FILE_EXTENSION@ publisher --wait 2 --samples 10 --interval 10 --reliable --transient & $${EXAMPLE_DIR}/BasicConfigurationExample@FILE_EXTENSION@ subscriber --samples 10 --reliable --transient"
 
@@ -18,8 +19,9 @@ services:
     volumes:
       - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
       - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
       # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@
+      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
       EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/dds/BasicConfigurationExample@FILE_EXTENSION@
     command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/BasicConfigurationExample@FILE_EXTENSION@ subscriber --samples 10 --reliable --transient"
diff --git a/test/examples/hello_world.compose.yml b/test/examples/hello_world.compose.yml
index e2ad7390b7d..8d03da8134a 100644
--- a/test/examples/hello_world.compose.yml
+++ b/test/examples/hello_world.compose.yml
@@ -7,9 +7,10 @@ services:
     volumes:
       - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
       - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
       # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@
+      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
       EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/hello_world@FILE_EXTENSION@
       FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR@/examples/cpp/hello_world/hello_world_profile.xml
     command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ subscriber --waitset --samples 10"
@@ -19,9 +20,10 @@ services:
     volumes:
       - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
       - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
       # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@
+      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
       EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/hello_world
       FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR@/examples/cpp/hello_world/hello_world_profile.xml
     command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ subscriber --samples 10 & $${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ publisher --samples 10"