diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
index 2b924742abd..83fbe3ab879 100644
--- a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
+++ b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
@@ -33,12 +33,12 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/RTPSWriter.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <rtps/RTPSDomainImpl.hpp>
 
 namespace eprosima {
diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
index 608ac76f5f9..b185ed4b4bb 100644
--- a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
+++ b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupRequestListener.cpp
@@ -24,6 +24,7 @@
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/RTPSDomainImpl.hpp>
+#include <rtps/reader/StatefulReader.hpp>
 
 using eprosima::fastrtps::rtps::RTPSReader;
 using eprosima::fastrtps::rtps::CacheChange_t;
diff --git a/src/cpp/fastdds/domain/DomainParticipantImpl.hpp b/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
index b086b9d0d26..6b7991bcc4d 100644
--- a/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
+++ b/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
@@ -39,11 +39,9 @@
 #include <fastdds/dds/topic/TypeSupport.hpp>
 #include <fastdds/rtps/common/Guid.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-
 #include "fastdds/topic/DDSSQLFilter/DDSFilterFactory.hpp"
 #include <fastdds/topic/TopicProxyFactory.hpp>
-
+#include <rtps/reader/StatefulReader.hpp>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPServer.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPServer.cpp
index 09cb3132888..d9b4504ba71 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPServer.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPServer.cpp
@@ -24,7 +24,7 @@
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 using namespace ::eprosima::fastrtps::rtps;
 
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
index 2d6a6302e26..e8acca55800 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
@@ -33,7 +33,6 @@
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
@@ -42,6 +41,7 @@
 #include <rtps/builtin/discovery/participant/PDP.h>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
+#include <rtps/reader/StatefulReader.hpp>
 #ifdef FASTDDS_STATISTICS
 #include <statistics/rtps/monitor-service/interfaces/IProxyObserver.hpp>
 #endif //FASTDDS_STATISTICS
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimpleListeners.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimpleListeners.cpp
index 5a3deab0908..cb45665ab28 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimpleListeners.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimpleListeners.cpp
@@ -29,13 +29,13 @@
 #include <fastdds/rtps/common/InstanceHandle.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
 #include <rtps/builtin/discovery/endpoint/EDPSimple.h>
 #include <rtps/builtin/discovery/participant/PDPSimple.h>
 #include <rtps/network/NetworkFactory.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 using ParameterList = eprosima::fastdds::dds::ParameterList;
 
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPUtils.hpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPUtils.hpp
index 34cf30687e0..b1af33ec453 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPUtils.hpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPUtils.hpp
@@ -25,14 +25,13 @@
 #include <fastdds/rtps/common/EntityId_t.hpp>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <rtps/history/ITopicPayloadPool.h>
 #include <rtps/history/PoolConfig.h>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
-
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 #include <memory>
 #include <string>
diff --git a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp
index 84c9bf7c9ac..d01eca63cd2 100644
--- a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp
@@ -22,13 +22,13 @@
 #include <memory>
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/BuiltinWriter.hpp>
 #include <rtps/builtin/discovery/participant/PDPEndpoints.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
index 150167ac954..5fdc48d0f97 100644
--- a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
@@ -23,10 +23,9 @@
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
 #include <fastdds/rtps/common/EntityId_t.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
-
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
index a57349827bd..d6cc00f23e6 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
@@ -33,8 +33,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
 
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
@@ -50,6 +48,8 @@
 #include <rtps/network/utils/external_locators.hpp>
 #include <rtps/resources/TimedEvent.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 #include <utils/shared_mutex.hpp>
 #include <utils/TimeConversion.hpp>
 
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
index f41b1ed59fd..bd3bdb100ec 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
@@ -32,7 +32,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/ReaderProxy.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
@@ -46,6 +45,7 @@
 #include <rtps/builtin/discovery/participant/timedevent/DSClientEvent.h>
 #include <rtps/builtin/liveliness/WLP.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <utils/shared_mutex.hpp>
 #include <utils/SystemInfo.hpp>
 #include <utils/TimeConversion.hpp>
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
index 9ce04ef45e4..9b7fb24d21b 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
@@ -28,7 +28,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 #include <fastdds/utils/TimedMutex.hpp>
 
@@ -47,6 +46,7 @@
 #include <rtps/builtin/discovery/participant/timedevent/DServerEvent.hpp>
 #include <rtps/builtin/liveliness/WLP.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <utils/TimeConversion.hpp>
 
 namespace eprosima {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index b585720184b..76859ee003a 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -27,8 +27,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
 
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
@@ -44,6 +42,8 @@
 #include <rtps/builtin/liveliness/WLP.h>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 #include <rtps/resources/TimedEvent.h>
 
 namespace eprosima {
diff --git a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
index 4e1caeea91a..d167ed7fa79 100644
--- a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
@@ -22,13 +22,12 @@
 #include <memory>
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/writer/StatelessWriter.h>
-
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/BuiltinWriter.hpp>
 #include <rtps/builtin/discovery/participant/PDPEndpoints.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpointsSecure.hpp b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpointsSecure.hpp
index 8d8560cada1..9ffdcb979e0 100644
--- a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpointsSecure.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpointsSecure.hpp
@@ -22,13 +22,13 @@
 #include <memory>
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/BuiltinWriter.hpp>
 #include <rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/liveliness/WLP.cpp b/src/cpp/rtps/builtin/liveliness/WLP.cpp
index 2e62081f1d1..144e0336bc0 100644
--- a/src/cpp/rtps/builtin/liveliness/WLP.cpp
+++ b/src/cpp/rtps/builtin/liveliness/WLP.cpp
@@ -27,7 +27,6 @@
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/resources/ResourceEvent.h>
 
 #include <fastdds/rtps/writer/StatefulWriter.h>
@@ -38,6 +37,7 @@
 #include <rtps/builtin/liveliness/WLPListener.h>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <rtps/resources/TimedEvent.h>
 #include <rtps/writer/LivelinessManager.hpp>
 #include <utils/TimeConversion.hpp>
diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
index a5108bd79f7..25d31b3d0ed 100644
--- a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+++ b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
@@ -36,10 +36,6 @@
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
 #include <fastdds/rtps/participant/RTPSParticipant.h>
-#include <fastdds/rtps/reader/StatefulPersistentReader.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-#include <fastdds/rtps/reader/StatelessPersistentReader.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/RTPSDomain.h>
 #include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
@@ -64,6 +60,10 @@
 #include <rtps/network/utils/netmask_filter.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/persistence/PersistenceService.h>
+#include <rtps/reader/StatefulPersistentReader.hpp>
+#include <rtps/reader/StatefulReader.hpp>
+#include <rtps/reader/StatelessPersistentReader.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 #include <statistics/rtps/GuidUtils.hpp>
 #include <utils/Semaphore.hpp>
 #include <utils/string_utilities.hpp>
diff --git a/src/cpp/rtps/reader/StatefulPersistentReader.cpp b/src/cpp/rtps/reader/StatefulPersistentReader.cpp
index d7e958545a3..eff2ccb2e7d 100644
--- a/src/cpp/rtps/reader/StatefulPersistentReader.cpp
+++ b/src/cpp/rtps/reader/StatefulPersistentReader.cpp
@@ -17,7 +17,7 @@
  *
  */
 
-#include <fastdds/rtps/reader/StatefulPersistentReader.h>
+#include <rtps/reader/StatefulPersistentReader.hpp>
 
 #include <fastdds/rtps/history/ReaderHistory.h>
 
diff --git a/include/fastdds/rtps/reader/StatefulPersistentReader.h b/src/cpp/rtps/reader/StatefulPersistentReader.hpp
similarity index 91%
rename from include/fastdds/rtps/reader/StatefulPersistentReader.h
rename to src/cpp/rtps/reader/StatefulPersistentReader.hpp
index 77ef0c0951e..57d2aeba588 100644
--- a/include/fastdds/rtps/reader/StatefulPersistentReader.h
+++ b/src/cpp/rtps/reader/StatefulPersistentReader.hpp
@@ -13,15 +13,15 @@
 // limitations under the License.
 
 /**
- * @file StatefulPersistentReader.h
+ * @file StatefulPersistentReader.hpp
  */
 
 
-#ifndef _FASTDDS_RTPS_STATEFULPERSISTENTREADER_H_
-#define _FASTDDS_RTPS_STATEFULPERSISTENTREADER_H_
+#ifndef RTPS_READER__STATEFULPERSISTENTREADER_HPP
+#define RTPS_READER__STATEFULPERSISTENTREADER_HPP
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/reader/StatefulReader.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 namespace eprosima {
 namespace fastrtps {
@@ -92,4 +92,4 @@ class StatefulPersistentReader : public StatefulReader
 } // namespace eprosima
 
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-#endif /* _FASTDDS_RTPS_STATEFULPERSISTENTREADER_H_ */
+#endif /* RTPS_READER__STATEFULPERSISTENTREADER_HPP */
diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index 879003a7115..a4f7c8301d5 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -17,6 +17,8 @@
  *
  */
 
+#include <rtps/reader/StatefulReader.hpp>
+
 #include <cassert>
 #include <mutex>
 #include <thread>
@@ -25,7 +27,6 @@
 #include <fastdds/rtps/common/VendorId_t.hpp>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/reader/ReaderListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/liveliness/WLP.h>
diff --git a/include/fastdds/rtps/reader/StatefulReader.h b/src/cpp/rtps/reader/StatefulReader.hpp
similarity index 98%
rename from include/fastdds/rtps/reader/StatefulReader.h
rename to src/cpp/rtps/reader/StatefulReader.hpp
index 41ae9edcc04..1b4d5df1e44 100644
--- a/include/fastdds/rtps/reader/StatefulReader.h
+++ b/src/cpp/rtps/reader/StatefulReader.hpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 /**
- * @file StatefulReader.h
+ * @file StatefulReader.hpp
  */
 
-#ifndef _FASTDDS_RTPS_READER_STATEFULREADER_H_
-#define _FASTDDS_RTPS_READER_STATEFULREADER_H_
+#ifndef RTPS_READER__STATEFULREADER_HPP
+#define RTPS_READER__STATEFULREADER_HPP
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
@@ -380,4 +380,4 @@ class StatefulReader : public RTPSReader
 
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#endif // _FASTDDS_RTPS_READER_STATEFULREADER_H_
+#endif // RTPS_READER__STATEFULREADER_HPP
diff --git a/src/cpp/rtps/reader/StatelessPersistentReader.cpp b/src/cpp/rtps/reader/StatelessPersistentReader.cpp
index d0c5f1e2c66..d82a2b4c179 100644
--- a/src/cpp/rtps/reader/StatelessPersistentReader.cpp
+++ b/src/cpp/rtps/reader/StatelessPersistentReader.cpp
@@ -17,7 +17,7 @@
  *
  */
 
-#include <fastdds/rtps/reader/StatelessPersistentReader.h>
+#include <rtps/reader/StatelessPersistentReader.hpp>
 
 #include <fastdds/rtps/history/ReaderHistory.h>
 
diff --git a/include/fastdds/rtps/reader/StatelessPersistentReader.h b/src/cpp/rtps/reader/StatelessPersistentReader.hpp
similarity index 91%
rename from include/fastdds/rtps/reader/StatelessPersistentReader.h
rename to src/cpp/rtps/reader/StatelessPersistentReader.hpp
index 71371f6f00c..b8f90f35109 100644
--- a/include/fastdds/rtps/reader/StatelessPersistentReader.h
+++ b/src/cpp/rtps/reader/StatelessPersistentReader.hpp
@@ -13,15 +13,15 @@
 // limitations under the License.
 
 /**
- * @file StatelessPersistentReader.h
+ * @file StatelessPersistentReader.hpp
  */
 
 
-#ifndef _FASTDDS_RTPS_STATELESSPERSISTENTREADER_H_
-#define _FASTDDS_RTPS_STATELESSPERSISTENTREADER_H_
+#ifndef RTPS_READER__STATELESSPERSISTENTREADER_HPP
+#define RTPS_READER__STATELESSPERSISTENTREADER_HPP
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastrtps {
@@ -92,4 +92,4 @@ class StatelessPersistentReader : public StatelessReader
 } // namespace eprosima
 
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-#endif /* _FASTDDS_RTPS_STATELESSPERSISTENTREADER_H_ */
+#endif /* RTPS_READER__STATELESSPERSISTENTREADER_HPP */
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index 750eae24afb..2b1c6b91d17 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -26,13 +26,13 @@
 #include <fastdds/rtps/common/VendorId_t.hpp>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/reader/ReaderListener.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/liveliness/WLP.h>
 #include <rtps/DataSharing/DataSharingListener.hpp>
 #include <rtps/DataSharing/ReaderPool.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <rtps/writer/LivelinessManager.hpp>
 
 #include "rtps/RTPSDomainImpl.hpp"
diff --git a/include/fastdds/rtps/reader/StatelessReader.h b/src/cpp/rtps/reader/StatelessReader.hpp
similarity index 98%
rename from include/fastdds/rtps/reader/StatelessReader.h
rename to src/cpp/rtps/reader/StatelessReader.hpp
index 82cf03ab77c..7ee0d1ad753 100644
--- a/include/fastdds/rtps/reader/StatelessReader.h
+++ b/src/cpp/rtps/reader/StatelessReader.hpp
@@ -13,12 +13,12 @@
 // limitations under the License.
 
 /**
- * @file StatelessReader.h
+ * @file StatelessReader.hpp
  */
 
 
-#ifndef _FASTDDS_RTPS_READER_STATELESSREADER_H_
-#define _FASTDDS_RTPS_READER_STATELESSREADER_H_
+#ifndef RTPS_READER__STATELESSREADER_HPP
+#define RTPS_READER__STATELESSREADER_HPP
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
@@ -302,4 +302,4 @@ class StatelessReader : public RTPSReader
 
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#endif /* _FASTDDS_RTPS_READER_STATELESSREADER_H_ */
+#endif /* RTPS_READER__STATELESSREADER_HPP */
diff --git a/src/cpp/rtps/reader/WriterProxy.cpp b/src/cpp/rtps/reader/WriterProxy.cpp
index 907203b86b6..e631ad09215 100644
--- a/src/cpp/rtps/reader/WriterProxy.cpp
+++ b/src/cpp/rtps/reader/WriterProxy.cpp
@@ -21,16 +21,16 @@
 
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
-#include <rtps/messages/RTPSMessageCreator.hpp>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/writer/RTPSWriter.h>
 
 #include "rtps/RTPSDomainImpl.hpp"
 #include "utils/collections/node_size_helpers.hpp"
+#include <rtps/messages/RTPSMessageCreator.hpp>
 #include <rtps/network/utils/external_locators.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/resources/TimedEvent.h>
+#include <rtps/reader/StatefulReader.hpp>
 
 #if !defined(NDEBUG) && !defined(ANDROID) && defined(FASTDDS_SOURCE) && defined(__unix__)
 #define SHOULD_DEBUG_LINUX
diff --git a/src/cpp/rtps/security/SecurityManager.cpp b/src/cpp/rtps/security/SecurityManager.cpp
index d2b586b969f..088d4447ec9 100644
--- a/src/cpp/rtps/security/SecurityManager.cpp
+++ b/src/cpp/rtps/security/SecurityManager.cpp
@@ -31,8 +31,6 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/security/accesscontrol/AccessControl.h>
 #include <fastdds/rtps/security/accesscontrol/EndpointSecurityAttributes.h>
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
@@ -47,6 +45,8 @@
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/network/NetworkFactory.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 #include <security/OpenSSLInit.hpp>
 
 #define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_WRITER (1 << 20)
diff --git a/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.h b/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.h
index 0ea712ba9c5..36634c52f4e 100644
--- a/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.h
+++ b/test/mock/rtps/RTPSParticipant/fastdds/rtps/participant/RTPSParticipant.h
@@ -26,10 +26,9 @@
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
 #include <fastdds/rtps/common/Guid.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/resources/ResourceEvent.h>
 #include <fastdds/fastdds_dll.hpp>
-
+#include <rtps/reader/StatefulReader.hpp>
 #include <statistics/rtps/monitor-service/Interfaces.hpp>
 
 namespace eprosima {
diff --git a/test/mock/rtps/StatefulReader/fastdds/rtps/reader/StatefulReader.h b/test/mock/rtps/StatefulReader/rtps/reader/StatefulReader.hpp
similarity index 95%
rename from test/mock/rtps/StatefulReader/fastdds/rtps/reader/StatefulReader.h
rename to test/mock/rtps/StatefulReader/rtps/reader/StatefulReader.hpp
index 20e92cdb030..f8f68cc7e86 100644
--- a/test/mock/rtps/StatefulReader/fastdds/rtps/reader/StatefulReader.h
+++ b/test/mock/rtps/StatefulReader/rtps/reader/StatefulReader.hpp
@@ -12,8 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef _FASTDDS_RTPS_READER_STATEFULREADER_H_
-#define _FASTDDS_RTPS_READER_STATEFULREADER_H_
+/**
+ * @file StatefulReader.hpp
+ */
+
+#ifndef RTPS_READER__STATEFULREADER_HPP
+#define RTPS_READER__STATEFULREADER_HPP
 
 #include <fastdds/rtps/attributes/ReaderAttributes.h>
 #include <fastdds/rtps/common/Guid.h>
@@ -114,4 +118,4 @@ class StatefulReader : public RTPSReader
 } // namespace fastrtps
 } // namespace eprosima
 
-#endif // _FASTDDS_RTPS_READER_STATEFULREADER_H_
+#endif // RTPS_READER__STATEFULREADER_HPP
diff --git a/test/mock/rtps/StatelessReader/fastdds/rtps/reader/StatelessReader.h b/test/mock/rtps/StatelessReader/rtps/reader/StatelessReader.hpp
similarity index 88%
rename from test/mock/rtps/StatelessReader/fastdds/rtps/reader/StatelessReader.h
rename to test/mock/rtps/StatelessReader/rtps/reader/StatelessReader.hpp
index 81af7a71809..da3b4479011 100644
--- a/test/mock/rtps/StatelessReader/fastdds/rtps/reader/StatelessReader.h
+++ b/test/mock/rtps/StatelessReader/rtps/reader/StatelessReader.hpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 /**
- * @file StatelessReader.h
+ * @file StatelessReader.hpp
  */
 
-#ifndef _FASTDDS_RTPS_READER_STATELESSREADER_H_
-#define _FASTDDS_RTPS_READER_STATELESSREADER_H_
+#ifndef RTPS_READER__STATELESSREADER_HPP
+#define RTPS_READER__STATELESSREADER_HPP
 
 #include <fastdds/rtps/reader/RTPSReader.h>
 
@@ -52,4 +52,4 @@ class StatelessReader : public RTPSReader
 } // namespace fastrtps
 } // namespace eprosima
 
-#endif // _FASTDDS_RTPS_READER_STATELESSREADER_H_
+#endif // RTPS_READER__STATELESSREADER_HPP
diff --git a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
index 3fd9fc0c827..3cd4f008841 100644
--- a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
+++ b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
@@ -3,7 +3,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/utils/TimedMutex.hpp>
-#include <fastdds/rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 
 #include <gmock/gmock.h>
diff --git a/test/unittest/rtps/history/ReaderHistoryTests.cpp b/test/unittest/rtps/history/ReaderHistoryTests.cpp
index 4f82977b609..048e7ca750c 100644
--- a/test/unittest/rtps/history/ReaderHistoryTests.cpp
+++ b/test/unittest/rtps/history/ReaderHistoryTests.cpp
@@ -20,10 +20,9 @@
 #include <gmock/gmock.h>
 
 #include <fastdds/rtps/history/ReaderHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/utils/TimedMutex.hpp>
-
 #include <rtps/common/ChangeComparison.hpp>
+#include <rtps/reader/StatefulReader.hpp>
 
 
 using namespace eprosima::fastrtps;
diff --git a/test/unittest/rtps/reader/WriterProxyAcknackTests.cpp b/test/unittest/rtps/reader/WriterProxyAcknackTests.cpp
index 6d75c509181..50b4befe83b 100644
--- a/test/unittest/rtps/reader/WriterProxyAcknackTests.cpp
+++ b/test/unittest/rtps/reader/WriterProxyAcknackTests.cpp
@@ -23,8 +23,8 @@
 
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <rtps/reader/WriterProxy.h>
 #include <rtps/reader/WriterProxy.cpp>
 #include <rtps/resources/TimedEvent.h>
diff --git a/test/unittest/rtps/reader/WriterProxyStopTest.cpp b/test/unittest/rtps/reader/WriterProxyStopTest.cpp
index bab10b6a294..9d7ee406110 100644
--- a/test/unittest/rtps/reader/WriterProxyStopTest.cpp
+++ b/test/unittest/rtps/reader/WriterProxyStopTest.cpp
@@ -19,9 +19,9 @@
 
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/resources/ResourceEvent.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <rtps/reader/WriterProxy.h>
 #include <rtps/reader/WriterProxy.cpp>
 #include <rtps/resources/TimedEvent.h>
diff --git a/test/unittest/rtps/reader/WriterProxyTests.cpp b/test/unittest/rtps/reader/WriterProxyTests.cpp
index 493bc644bef..2d6dfa0f8a2 100644
--- a/test/unittest/rtps/reader/WriterProxyTests.cpp
+++ b/test/unittest/rtps/reader/WriterProxyTests.cpp
@@ -23,8 +23,8 @@
 
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
 #include <rtps/reader/WriterProxy.h>
 #include <rtps/reader/WriterProxy.cpp>
 #include <rtps/resources/TimedEvent.h>
diff --git a/test/unittest/rtps/security/SecurityTests.hpp b/test/unittest/rtps/security/SecurityTests.hpp
index ccb14129f64..7950424fdd9 100644
--- a/test/unittest/rtps/security/SecurityTests.hpp
+++ b/test/unittest/rtps/security/SecurityTests.hpp
@@ -20,8 +20,6 @@
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/reader/StatefulReader.h>
-#include <fastdds/rtps/reader/StatelessReader.h>
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
 #include <fastdds/rtps/security/common/Handle.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
@@ -29,6 +27,8 @@
 
 #include <rtps/builtin/discovery/participant/PDP.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
+#include <rtps/reader/StatefulReader.hpp>
+#include <rtps/reader/StatelessReader.hpp>
 #include <rtps/security/MockAuthenticationPlugin.h>
 #include <rtps/security/MockCryptographyPlugin.h>
 #include <rtps/security/SecurityManager.h>