diff --git a/examples/cpp/discovery_server/ClientPublisherApp.cpp b/examples/cpp/discovery_server/ClientPublisherApp.cpp
index 466e0fdd190..4a125771cf5 100644
--- a/examples/cpp/discovery_server/ClientPublisherApp.cpp
+++ b/examples/cpp/discovery_server/ClientPublisherApp.cpp
@@ -79,7 +79,7 @@ ClientPublisherApp::ClientPublisherApp(
 
     // Create DS locator
     eprosima::fastdds::rtps::Locator server_locator;
-    eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
+    eprosima::fastdds::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
 
     std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface> descriptor;
 
@@ -97,7 +97,7 @@ ClientPublisherApp::ClientPublisherApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_UDPv4;
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
             break;
         }
 
@@ -108,7 +108,7 @@ ClientPublisherApp::ClientPublisherApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_UDPv6;
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
             break;
         }
 
@@ -119,8 +119,8 @@ ClientPublisherApp::ClientPublisherApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_TCPv4;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
             break;
         }
 
@@ -131,8 +131,8 @@ ClientPublisherApp::ClientPublisherApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_TCPv6;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
             break;
         }
 
@@ -142,7 +142,7 @@ ClientPublisherApp::ClientPublisherApp(
 
     // Set participant as DS CLIENT
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
-            eprosima::fastrtps::rtps::DiscoveryProtocol_t::CLIENT;
+            eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;
 
     // Add remote SERVER to CLIENT's list of SERVERs
     pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
diff --git a/examples/cpp/discovery_server/ClientSubscriberApp.cpp b/examples/cpp/discovery_server/ClientSubscriberApp.cpp
index f75ab6d79ba..8f50af191a1 100644
--- a/examples/cpp/discovery_server/ClientSubscriberApp.cpp
+++ b/examples/cpp/discovery_server/ClientSubscriberApp.cpp
@@ -77,7 +77,7 @@ ClientSubscriberApp::ClientSubscriberApp(
 
     // Create DS SERVER locator
     eprosima::fastdds::rtps::Locator server_locator;
-    eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
+    eprosima::fastdds::rtps::IPLocator::setPhysicalPort(server_locator, server_port);
 
     std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface> descriptor;
 
@@ -95,7 +95,7 @@ ClientSubscriberApp::ClientSubscriberApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_UDPv4;
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
             break;
         }
 
@@ -106,7 +106,7 @@ ClientSubscriberApp::ClientSubscriberApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_UDPv6;
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
             break;
         }
 
@@ -119,8 +119,8 @@ ClientSubscriberApp::ClientSubscriberApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_TCPv4;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(server_locator, ip_server_address);
             break;
         }
 
@@ -133,8 +133,8 @@ ClientSubscriberApp::ClientSubscriberApp(
             descriptor = descriptor_tmp;
 
             server_locator.kind = LOCATOR_KIND_TCPv6;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(server_locator, server_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(server_locator, server_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(server_locator, ip_server_address);
             break;
         }
 
@@ -144,7 +144,7 @@ ClientSubscriberApp::ClientSubscriberApp(
 
     // Set participant as DS CLIENT
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
-            eprosima::fastrtps::rtps::DiscoveryProtocol_t::CLIENT;
+            eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;
 
     // Add remote SERVER to CLIENT's list of SERVERs
     pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
diff --git a/examples/cpp/discovery_server/HelloWorldPubSubTypes.cxx b/examples/cpp/discovery_server/HelloWorldPubSubTypes.cxx
index aa161b2e163..a73cf0ffa55 100644
--- a/examples/cpp/discovery_server/HelloWorldPubSubTypes.cxx
+++ b/examples/cpp/discovery_server/HelloWorldPubSubTypes.cxx
@@ -27,8 +27,8 @@
 #include "HelloWorldCdrAux.hpp"
 #include "HelloWorldTypeObjectSupport.hpp"
 
-using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
-using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
+using SerializedPayload_t = eprosima::fastdds::rtps::SerializedPayload_t;
+using InstanceHandle_t = eprosima::fastdds::rtps::InstanceHandle_t;
 using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 HelloWorldPubSubType::HelloWorldPubSubType()
diff --git a/examples/cpp/discovery_server/HelloWorldPubSubTypes.h b/examples/cpp/discovery_server/HelloWorldPubSubTypes.h
index 7c83d2b300b..f048c9be28e 100644
--- a/examples/cpp/discovery_server/HelloWorldPubSubTypes.h
+++ b/examples/cpp/discovery_server/HelloWorldPubSubTypes.h
@@ -54,18 +54,18 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport bool serialize(
             void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override
+            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
     {
         return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
     }
 
     eProsima_user_DllExport bool serialize(
             void* data,
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool deserialize(
-            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t* payload,
             void* data) override;
 
     eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
@@ -80,7 +80,7 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport bool getKey(
             void* data,
-            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
             bool force_md5 = false) override;
 
     eProsima_user_DllExport void* createData() override;
diff --git a/examples/cpp/discovery_server/Helpers.hpp b/examples/cpp/discovery_server/Helpers.hpp
index 3b602e640f1..fdbe4328192 100644
--- a/examples/cpp/discovery_server/Helpers.hpp
+++ b/examples/cpp/discovery_server/Helpers.hpp
@@ -33,15 +33,15 @@ enum class TransportKind : uint8_t
     SHM,
 };
 
-inline eprosima::fastrtps::rtps::GuidPrefix_t get_discovery_server_guid_from_id(
+inline eprosima::fastdds::rtps::GuidPrefix_t get_discovery_server_guid_from_id(
         unsigned short id)
 {
-    eprosima::fastrtps::rtps::GuidPrefix_t result;
+    eprosima::fastdds::rtps::GuidPrefix_t result;
 
     // Get default DS guid and modify the one value expected to be changed
     std::istringstream(eprosima::fastdds::rtps::DEFAULT_ROS2_SERVER_GUIDPREFIX) >> result;
     result.value[2] =
-            static_cast<eprosima::fastrtps::rtps::octet>(id); // This is done like this in Fast
+            static_cast<eprosima::fastdds::rtps::octet>(id); // This is done like this in Fast
 
     return result;
 }
@@ -49,7 +49,7 @@ inline eprosima::fastrtps::rtps::GuidPrefix_t get_discovery_server_guid_from_id(
 inline bool is_ip(
         const std::string ip_str)
 {
-    return eprosima::fastrtps::rtps::IPLocator::isIPv4(ip_str) || eprosima::fastrtps::rtps::IPLocator::isIPv6(ip_str);
+    return eprosima::fastdds::rtps::IPLocator::isIPv4(ip_str) || eprosima::fastdds::rtps::IPLocator::isIPv6(ip_str);
 }
 
 inline std::string get_ip_from_dns(
@@ -57,7 +57,7 @@ inline std::string get_ip_from_dns(
         TransportKind kind)
 {
     std::pair<std::set<std::string>, std::set<std::string>> dns_response =
-            eprosima::fastrtps::rtps::IPLocator::resolveNameDNS(domain_name);
+            eprosima::fastdds::rtps::IPLocator::resolveNameDNS(domain_name);
 
     if (kind == TransportKind::UDPv4 || kind == TransportKind::TCPv4)
     {
diff --git a/examples/cpp/discovery_server/ServerApp.cpp b/examples/cpp/discovery_server/ServerApp.cpp
index 53c8eedbad2..e6fced2ce83 100644
--- a/examples/cpp/discovery_server/ServerApp.cpp
+++ b/examples/cpp/discovery_server/ServerApp.cpp
@@ -80,8 +80,8 @@ ServerApp::ServerApp(
     // Create DS SERVER locator
     eprosima::fastdds::rtps::Locator listening_locator;
     eprosima::fastdds::rtps::Locator connection_locator;
-    eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(listening_locator, config.listening_port);
-    eprosima::fastrtps::rtps::IPLocator::setPhysicalPort(connection_locator, config.connection_port);
+    eprosima::fastdds::rtps::IPLocator::setPhysicalPort(listening_locator, config.listening_port);
+    eprosima::fastdds::rtps::IPLocator::setPhysicalPort(connection_locator, config.connection_port);
 
     std::shared_ptr<eprosima::fastdds::rtps::TransportDescriptorInterface> descriptor;
 
@@ -99,9 +99,9 @@ ServerApp::ServerApp(
             descriptor = descriptor_tmp;
 
             listening_locator.kind = LOCATOR_KIND_UDPv4;
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(listening_locator, ip_listening_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(listening_locator, ip_listening_address);
             connection_locator.kind = LOCATOR_KIND_UDPv4;
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(connection_locator, ip_connection_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(connection_locator, ip_connection_address);
             break;
         }
 
@@ -111,9 +111,9 @@ ServerApp::ServerApp(
             descriptor = descriptor_tmp;
 
             listening_locator.kind = LOCATOR_KIND_UDPv6;
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
             connection_locator.kind = LOCATOR_KIND_UDPv6;
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
             break;
         }
 
@@ -124,11 +124,11 @@ ServerApp::ServerApp(
             descriptor = descriptor_tmp;
 
             listening_locator.kind = LOCATOR_KIND_TCPv4;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(listening_locator, config.listening_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(listening_locator, ip_listening_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(listening_locator, config.listening_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(listening_locator, ip_listening_address);
             connection_locator.kind = LOCATOR_KIND_TCPv4;
-            eprosima::fastrtps::rtps::IPLocator::setIPv4(connection_locator, ip_connection_address);
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(connection_locator, config.connection_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv4(connection_locator, ip_connection_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(connection_locator, config.connection_port);
             break;
         }
 
@@ -139,11 +139,11 @@ ServerApp::ServerApp(
             descriptor = descriptor_tmp;
 
             listening_locator.kind = LOCATOR_KIND_TCPv6;
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(listening_locator, config.listening_port);
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(listening_locator, config.listening_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(listening_locator, ip_listening_address);
             connection_locator.kind = LOCATOR_KIND_TCPv6;
-            eprosima::fastrtps::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
-            eprosima::fastrtps::rtps::IPLocator::setLogicalPort(connection_locator, config.connection_port);
+            eprosima::fastdds::rtps::IPLocator::setIPv6(connection_locator, ip_connection_address);
+            eprosima::fastdds::rtps::IPLocator::setLogicalPort(connection_locator, config.connection_port);
             break;
         }
 
@@ -156,7 +156,7 @@ ServerApp::ServerApp(
 
     // Set participant as SERVER
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
-            eprosima::fastrtps::rtps::DiscoveryProtocol_t::SERVER;
+            eprosima::fastdds::rtps::DiscoveryProtocol::SERVER;
 
     // Set SERVER's listening locator for PDP
     pqos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(listening_locator);
@@ -210,17 +210,17 @@ ServerApp::~ServerApp()
 
 void ServerApp::on_participant_discovery(
         DomainParticipant*,
-        fastrtps::rtps::ParticipantDiscoveryInfo&& info,
+        fastdds::rtps::ParticipantDiscoveryInfo&& info,
         bool& should_be_ignored)
 {
     static_cast<void>(should_be_ignored);
-    if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
+    if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
     {
         std::cout << "Discovered Participant with GUID " << info.info.m_guid << std::endl;
         ++matched_;
     }
-    else if (info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
-            info.status == eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
+    else if (info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT ||
+            info.status == eprosima::fastdds::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
     {
         std::cout << "Dropped Participant with GUID " << info.info.m_guid << std::endl;
         --matched_;
diff --git a/examples/cpp/discovery_server/ServerApp.hpp b/examples/cpp/discovery_server/ServerApp.hpp
index 54d7b52438f..d0d1be4280c 100644
--- a/examples/cpp/discovery_server/ServerApp.hpp
+++ b/examples/cpp/discovery_server/ServerApp.hpp
@@ -49,7 +49,7 @@ class ServerApp : public Application, public DomainParticipantListener
     //! Publisher matched method
     void on_participant_discovery(
             DomainParticipant* participant,
-            fastrtps::rtps::ParticipantDiscoveryInfo&& info,
+            fastdds::rtps::ParticipantDiscoveryInfo&& info,
             bool& should_be_ignored) override;
 
     //! Run publisher