diff --git a/examples/cpp/dds/RequestReplyExample/CalculatorClient.cpp b/examples/cpp/dds/RequestReplyExample/CalculatorClient.cpp
index 45ad39c952a..b920a3cdc44 100644
--- a/examples/cpp/dds/RequestReplyExample/CalculatorClient.cpp
+++ b/examples/cpp/dds/RequestReplyExample/CalculatorClient.cpp
@@ -16,6 +16,8 @@
 #include <mutex>
 #include <vector>
 
+#include "CalculatorPubSubTypes.h"
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
@@ -23,8 +25,7 @@
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-
-#include "CalculatorPubSubTypes.h"
+#include <fastdds/rtps/common/WriteParams.h>
 
 class CalculatorClient
 {
diff --git a/examples/cpp/dds/RequestReplyExample/CalculatorServer.cpp b/examples/cpp/dds/RequestReplyExample/CalculatorServer.cpp
index a825096798b..8d03e64595b 100644
--- a/examples/cpp/dds/RequestReplyExample/CalculatorServer.cpp
+++ b/examples/cpp/dds/RequestReplyExample/CalculatorServer.cpp
@@ -16,6 +16,8 @@
 #include <mutex>
 #include <vector>
 
+#include "CalculatorPubSubTypes.h"
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/publisher/DataWriter.hpp>
@@ -23,8 +25,7 @@
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
-
-#include "CalculatorPubSubTypes.h"
+#include <fastdds/rtps/common/WriteParams.h>
 
 class CalculatorServer
 {
diff --git a/include/fastrtps/config/doxygen_modules.h b/include/fastdds/config/doxygen_modules.hpp
similarity index 96%
rename from include/fastrtps/config/doxygen_modules.h
rename to include/fastdds/config/doxygen_modules.hpp
index 7eab9ac0c3f..308d70fa551 100644
--- a/include/fastrtps/config/doxygen_modules.h
+++ b/include/fastdds/config/doxygen_modules.hpp
@@ -13,11 +13,11 @@
 // limitations under the License.
 
 /**
- * @file doxygen_modules.h
+ * @file doxygen_modules.hpp
  */
 
-#ifndef RTPS_DOXYGEN_MODULES_H_
-#define RTPS_DOXYGEN_MODULES_H_
+#ifndef _FASTDDS_DOXYGEN_MODULES_HPP_
+#define _FASTDDS_DOXYGEN_MODULES_HPP_
 
 //Description of doxygen modules, not used in actual code.
 
@@ -141,4 +141,4 @@
  *  @ingroup UTILITIES_MODULE
  */
 
-#endif /* RTPS_DOXYGEN_MODULES_H_ */
+#endif /* _FASTDDS_DOXYGEN_MODULES_HPP_ */
diff --git a/include/fastdds/dds/core/policy/ParameterTypes.hpp b/include/fastdds/dds/core/policy/ParameterTypes.hpp
index 1f80b455b20..8424240404b 100644
--- a/include/fastdds/dds/core/policy/ParameterTypes.hpp
+++ b/include/fastdds/dds/core/policy/ParameterTypes.hpp
@@ -1863,6 +1863,36 @@ T get_proxy_property(
 }
 
 } //namespace dds
+
+namespace rtps {
+
+using ParameterId_t = fastdds::dds::ParameterId_t;
+using Parameter_t = fastdds::dds::Parameter_t;
+using ParameterKey_t = fastdds::dds::ParameterKey_t;
+using ParameterLocator_t = fastdds::dds::ParameterLocator_t;
+using ParameterString_t = fastdds::dds::ParameterString_t;
+using ParameterPort_t = fastdds::dds::ParameterPort_t;
+using ParameterGuid_t = fastdds::dds::ParameterGuid_t;
+using ParameterDomainId_t = fastdds::dds::ParameterDomainId_t;
+using ParameterProtocolVersion_t = fastdds::dds::ParameterProtocolVersion_t;
+using ParameterVendorId_t = fastdds::dds::ParameterVendorId_t;
+using ParameterIP4Address_t = fastdds::dds::ParameterIP4Address_t;
+using ParameterBool_t = fastdds::dds::ParameterBool_t;
+using ParameterStatusInfo_t = fastdds::dds::ParameterStatusInfo_t;
+using ParameterCount_t = fastdds::dds::ParameterCount_t;
+using ParameterEntityId_t = fastdds::dds::ParameterEntityId_t;
+using ParameterTime_t = fastdds::dds::ParameterTime_t;
+using ParameterBuiltinEndpointSet_t = fastdds::dds::ParameterBuiltinEndpointSet_t;
+using ParameterNetworkConfigSet_t = fastdds::dds::ParameterNetworkConfigSet_t;
+using ParameterPropertyList_t = fastdds::dds::ParameterPropertyList_t;
+using ParameterSampleIdentity_t = fastdds::dds::ParameterSampleIdentity_t;
+#if HAVE_SECURITY
+using ParameterToken_t = fastdds::dds::ParameterToken_t;
+using ParameterParticipantSecurityInfo_t = fastdds::dds::ParameterParticipantSecurityInfo_t;
+using ParameterEndpointSecurityInfo_t = fastdds::dds::ParameterEndpointSecurityInfo_t;
+#endif // if HAVE_SECURITY
+
+} //namespace rtps
 } //namespace fastdds
 } //namespace eprosima
 
diff --git a/include/fastdds/dds/publisher/Publisher.hpp b/include/fastdds/dds/publisher/Publisher.hpp
index a7368d88f36..6de57deb2a0 100644
--- a/include/fastdds/dds/publisher/Publisher.hpp
+++ b/include/fastdds/dds/publisher/Publisher.hpp
@@ -40,6 +40,12 @@ namespace fastdds {
 
 class TopicAttributes;
 
+namespace rtps {
+
+class IPayloadPool;
+
+} // namespace rtps
+
 namespace dds {
 
 class DomainParticipant;
diff --git a/include/fastdds/dds/subscriber/Subscriber.hpp b/include/fastdds/dds/subscriber/Subscriber.hpp
index d92351c7d84..b74a6366e6f 100644
--- a/include/fastdds/dds/subscriber/Subscriber.hpp
+++ b/include/fastdds/dds/subscriber/Subscriber.hpp
@@ -43,9 +43,12 @@ namespace fastdds {
 
 class TopicAttributes;
 
-} // namespace fastdds
+namespace rtps {
+
+class IPayloadPool;
+
+} // namespace rtps
 
-namespace fastdds {
 namespace dds {
 
 class DomainParticipant;
diff --git a/include/fastdds/rtps/attributes/TopicAttributes.h b/include/fastdds/rtps/attributes/TopicAttributes.h
index 6ff489d8081..0fb88714031 100644
--- a/include/fastdds/rtps/attributes/TopicAttributes.h
+++ b/include/fastdds/rtps/attributes/TopicAttributes.h
@@ -16,14 +16,13 @@
  * @file TopicAttributes.h
  */
 
-#ifndef TOPICPARAMETERS_H_
-#define TOPICPARAMETERS_H_
+#ifndef _FASTDDS_TOPICPARAMETERS_H_
+#define _FASTDDS_TOPICPARAMETERS_H_
 
 #include <string>
 
+#include <fastdds/dds/core/policy/QosPolicies.hpp>
 #include <fastdds/rtps/common/Types.h>
-#include <fastrtps/qos/QosPolicies.h>
-
 
 namespace eprosima {
 namespace fastdds {
@@ -104,15 +103,15 @@ class TopicAttributes
     //!Topic Data Type.
     fastcdr::string_255 topicDataType;
     //!QOS Regarding the History to be saved.
-    HistoryQosPolicy historyQos;
+    dds::HistoryQosPolicy historyQos;
     //!QOS Regarding the resources to allocate.
-    ResourceLimitsQosPolicy resourceLimitsQos;
+    dds::ResourceLimitsQosPolicy resourceLimitsQos;
     //!Type Identifier XTYPES 1.1
-    TypeIdV1 type_id;
+    dds::TypeIdV1 type_id;
     //!Type Object XTYPES 1.1
-    TypeObjectV1 type;
+    dds::TypeObjectV1 type;
     //!XTYPES 1.2
-    xtypes::TypeInformationParameter type_information;
+    dds::xtypes::TypeInformationParameter type_information;
 
     /**
      * Method to check whether the defined QOS are correct.
@@ -137,7 +136,7 @@ bool inline operator !=(
             || t1.topicName != t2.topicName
             || t1.topicDataType != t2.topicDataType
             || t1.historyQos.kind != t2.historyQos.kind
-            || (t1.historyQos.kind == KEEP_LAST_HISTORY_QOS && t1.historyQos.depth != t2.historyQos.depth))
+            || (t1.historyQos.kind == dds::KEEP_LAST_HISTORY_QOS && t1.historyQos.depth != t2.historyQos.depth))
     {
         return true;
     }
@@ -149,4 +148,4 @@ bool inline operator !=(
 } /* namespace fastdds */
 } /* namespace eprosima */
 
-#endif /* TOPICPARAMETERS_H_ */
+#endif /* _FASTDDS_TOPICPARAMETERS_H_ */
diff --git a/include/fastdds/rtps/builtin/data/ReaderProxyData.h b/include/fastdds/rtps/builtin/data/ReaderProxyData.h
index f13a438625c..58af91186dc 100644
--- a/include/fastdds/rtps/builtin/data/ReaderProxyData.h
+++ b/include/fastdds/rtps/builtin/data/ReaderProxyData.h
@@ -305,22 +305,22 @@ class ReaderProxyData
     }
 
     FASTDDS_EXPORTED_API void type_id(
-            const TypeIdV1& other_type_id)
+            const dds::TypeIdV1& other_type_id)
     {
         type_id() = other_type_id;
     }
 
-    FASTDDS_EXPORTED_API const TypeIdV1& type_id() const
+    FASTDDS_EXPORTED_API const dds::TypeIdV1& type_id() const
     {
         assert(m_type_id != nullptr);
         return *m_type_id;
     }
 
-    FASTDDS_EXPORTED_API TypeIdV1& type_id()
+    FASTDDS_EXPORTED_API dds::TypeIdV1& type_id()
     {
         if (m_type_id == nullptr)
         {
-            m_type_id = new TypeIdV1();
+            m_type_id = new dds::TypeIdV1();
         }
         return *m_type_id;
     }
@@ -331,22 +331,22 @@ class ReaderProxyData
     }
 
     FASTDDS_EXPORTED_API void type(
-            const TypeObjectV1& other_type)
+            const dds::TypeObjectV1& other_type)
     {
         type() = other_type;
     }
 
-    FASTDDS_EXPORTED_API const TypeObjectV1& type() const
+    FASTDDS_EXPORTED_API const dds::TypeObjectV1& type() const
     {
         assert(m_type != nullptr);
         return *m_type;
     }
 
-    FASTDDS_EXPORTED_API TypeObjectV1& type()
+    FASTDDS_EXPORTED_API dds::TypeObjectV1& type()
     {
         if (m_type == nullptr)
         {
-            m_type = new TypeObjectV1();
+            m_type = new dds::TypeObjectV1();
         }
         return *m_type;
     }
@@ -357,22 +357,22 @@ class ReaderProxyData
     }
 
     FASTDDS_EXPORTED_API void type_information(
-            const xtypes::TypeInformationParameter& other_type_information)
+            const dds::xtypes::TypeInformationParameter& other_type_information)
     {
         type_information() = other_type_information;
     }
 
-    FASTDDS_EXPORTED_API const xtypes::TypeInformationParameter& type_information() const
+    FASTDDS_EXPORTED_API const dds::xtypes::TypeInformationParameter& type_information() const
     {
         assert(m_type_information != nullptr);
         return *m_type_information;
     }
 
-    FASTDDS_EXPORTED_API xtypes::TypeInformationParameter& type_information()
+    FASTDDS_EXPORTED_API dds::xtypes::TypeInformationParameter& type_information()
     {
         if (m_type_information == nullptr)
         {
-            m_type_information = new xtypes::TypeInformationParameter();
+            m_type_information = new dds::xtypes::TypeInformationParameter();
         }
         return *m_type_information;
     }
@@ -502,11 +502,11 @@ class ReaderProxyData
     //!Topic kind
     TopicKind_t m_topicKind;
     //!Type Identifier
-    TypeIdV1* m_type_id;
+    dds::TypeIdV1* m_type_id;
     //!Type Object
-    TypeObjectV1* m_type;
+    dds::TypeObjectV1* m_type;
     //!Type Information
-    xtypes::TypeInformationParameter* m_type_information;
+    dds::xtypes::TypeInformationParameter* m_type_information;
     //!
     ParameterPropertyList_t m_properties;
     //!Information on the content filter applied by the reader.
diff --git a/include/fastdds/rtps/builtin/data/WriterProxyData.h b/include/fastdds/rtps/builtin/data/WriterProxyData.h
index e9b56255684..777b96e1b3f 100644
--- a/include/fastdds/rtps/builtin/data/WriterProxyData.h
+++ b/include/fastdds/rtps/builtin/data/WriterProxyData.h
@@ -310,22 +310,22 @@ class WriterProxyData
     }
 
     FASTDDS_EXPORTED_API void type_id(
-            const TypeIdV1& other_type_id)
+            const dds::TypeIdV1& other_type_id)
     {
         type_id() = other_type_id;
     }
 
-    FASTDDS_EXPORTED_API const TypeIdV1& type_id() const
+    FASTDDS_EXPORTED_API const dds::TypeIdV1& type_id() const
     {
         assert(m_type_id != nullptr);
         return *m_type_id;
     }
 
-    FASTDDS_EXPORTED_API TypeIdV1& type_id()
+    FASTDDS_EXPORTED_API dds::TypeIdV1& type_id()
     {
         if (m_type_id == nullptr)
         {
-            m_type_id = new TypeIdV1();
+            m_type_id = new dds::TypeIdV1();
         }
         return *m_type_id;
     }
@@ -336,22 +336,22 @@ class WriterProxyData
     }
 
     FASTDDS_EXPORTED_API void type(
-            const TypeObjectV1& other_type)
+            const dds::TypeObjectV1& other_type)
     {
         type() = other_type;
     }
 
-    FASTDDS_EXPORTED_API const TypeObjectV1& type() const
+    FASTDDS_EXPORTED_API const dds::TypeObjectV1& type() const
     {
         assert(m_type != nullptr);
         return *m_type;
     }
 
-    FASTDDS_EXPORTED_API TypeObjectV1& type()
+    FASTDDS_EXPORTED_API dds::TypeObjectV1& type()
     {
         if (m_type == nullptr)
         {
-            m_type = new TypeObjectV1();
+            m_type = new dds::TypeObjectV1();
         }
         return *m_type;
     }
@@ -362,22 +362,22 @@ class WriterProxyData
     }
 
     FASTDDS_EXPORTED_API void type_information(
-            const xtypes::TypeInformationParameter& other_type_information)
+            const dds::xtypes::TypeInformationParameter& other_type_information)
     {
         type_information() = other_type_information;
     }
 
-    FASTDDS_EXPORTED_API const xtypes::TypeInformationParameter& type_information() const
+    FASTDDS_EXPORTED_API const dds::xtypes::TypeInformationParameter& type_information() const
     {
         assert(m_type_information != nullptr);
         return *m_type_information;
     }
 
-    FASTDDS_EXPORTED_API xtypes::TypeInformationParameter& type_information()
+    FASTDDS_EXPORTED_API dds::xtypes::TypeInformationParameter& type_information()
     {
         if (m_type_information == nullptr)
         {
-            m_type_information = new xtypes::TypeInformationParameter();
+            m_type_information = new dds::xtypes::TypeInformationParameter();
         }
         return *m_type_information;
     }
@@ -496,13 +496,13 @@ class WriterProxyData
     GUID_t persistence_guid_;
 
     //!Type Identifier
-    TypeIdV1* m_type_id;
+    dds::TypeIdV1* m_type_id;
 
     //!Type Object
-    TypeObjectV1* m_type;
+    dds::TypeObjectV1* m_type;
 
     //!Type Information
-    xtypes::TypeInformationParameter* m_type_information;
+    dds::xtypes::TypeInformationParameter* m_type_information;
 
     //!
     ParameterPropertyList_t m_properties;
diff --git a/include/fastdds/rtps/writer/RTPSWriter.h b/include/fastdds/rtps/writer/RTPSWriter.h
index 6282d20fab9..23cfeece998 100644
--- a/include/fastdds/rtps/writer/RTPSWriter.h
+++ b/include/fastdds/rtps/writer/RTPSWriter.h
@@ -469,7 +469,7 @@ class RTPSWriter
      *
      * @return Liveliness kind
      */
-    const LivelinessQosPolicyKind& get_liveliness_kind() const;
+    const dds::LivelinessQosPolicyKind& get_liveliness_kind() const;
 
     /**
      * @brief A method to retrieve the liveliness lease duration
@@ -550,7 +550,7 @@ class RTPSWriter
     bool m_separateSendingEnabled = false;
 
     //! The liveliness kind of this writer
-    LivelinessQosPolicyKind liveliness_kind_;
+    dds::LivelinessQosPolicyKind liveliness_kind_;
     //! The liveliness lease duration of this writer
     Duration_t liveliness_lease_duration_;
     //! The liveliness announcement period
diff --git a/include/fastrtps/attributes/LibrarySettingsAttributes.h b/include/fastrtps/attributes/LibrarySettingsAttributes.h
deleted file mode 100644
index bf91704f40e..00000000000
--- a/include/fastrtps/attributes/LibrarySettingsAttributes.h
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright 2019 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 LibrarySettingsAttributes.h
- *
- */
-
-#ifndef LIBRARYSETTINGS_ATTRIBUTES_H_
-#define LIBRARYSETTINGS_ATTRIBUTES_H_
-
-namespace eprosima {
-namespace fastdds {
-
-enum IntraprocessDeliveryType
-{
-    INTRAPROCESS_OFF,
-    INTRAPROCESS_USER_DATA_ONLY,
-    INTRAPROCESS_FULL
-};
-
-/**
- * Class LibraySettingsAttributes, used by the user to define the Fast DDS library behaviour
- * @ingroup FASTDDS_ATTRIBUTES_MODULE
- */
-class LibrarySettingsAttributes
-{
-public:
-
-    LibrarySettingsAttributes()
-    {
-    }
-
-    virtual ~LibrarySettingsAttributes()
-    {
-    }
-
-    bool operator ==(
-            const LibrarySettingsAttributes& b) const
-    {
-        return (intraprocess_delivery == b.intraprocess_delivery);
-    }
-
-    IntraprocessDeliveryType intraprocess_delivery =
-#if HAVE_STRICT_REALTIME
-            INTRAPROCESS_OFF;
-#else
-            INTRAPROCESS_FULL;
-#endif // if HAVE_STRICT_REALTIME
-};
-
-}  // namespace fastdds
-}  // namespace eprosima
-
-#endif /* LIBRARYSETTINGS_ATTRIBUTES_H_ */
diff --git a/include/fastrtps/common/KeyedChanges.h b/include/fastrtps/common/KeyedChanges.h
deleted file mode 100644
index 16ae9161d8f..00000000000
--- a/include/fastrtps/common/KeyedChanges.h
+++ /dev/null
@@ -1,64 +0,0 @@
-// Copyright 2019 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 KeyedChanges.h
- *
- */
-
-#ifndef KEYEDCHANGES_H_
-#define KEYEDCHANGES_H_
-
-#include <fastdds/rtps/common/CacheChange.h>
-#include <chrono>
-
-namespace eprosima {
-namespace fastdds {
-
-/**
- * @brief A struct storing a vector of cache changes and the next deadline in the group
- * @ingroup FASTDDS_MODULE
- */
-struct KeyedChanges
-{
-    //! Default constructor
-    KeyedChanges()
-        : cache_changes()
-        , next_deadline_us()
-    {
-    }
-
-    //! Copy constructor
-    KeyedChanges(
-            const KeyedChanges& other)
-        : cache_changes(other.cache_changes)
-        , next_deadline_us(other.next_deadline_us)
-    {
-    }
-
-    //! Destructor
-    ~KeyedChanges()
-    {
-    }
-
-    //! A vector of cache changes
-    std::vector<rtps::CacheChange_t*> cache_changes;
-    //! The time when the group will miss the deadline
-    std::chrono::steady_clock::time_point next_deadline_us;
-};
-
-} /* namespace  */
-} /* namespace eprosima */
-
-#endif /* KEYEDCHANGES_H_ */
diff --git a/include/fastrtps/qos/ParameterTypes.h b/include/fastrtps/qos/ParameterTypes.h
deleted file mode 100644
index 248280f7d4e..00000000000
--- a/include/fastrtps/qos/ParameterTypes.h
+++ /dev/null
@@ -1,77 +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 ParameterTypes.h
- */
-
-#ifndef PARAMETERTYPES_H_
-#define PARAMETERTYPES_H_
-#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-
-#include <fastcdr/cdr/fixed_size_string.hpp>
-
-#include <fastdds/dds/core/policy/ParameterTypes.hpp>
-#include <fastdds/rtps/common/CacheChange.h>
-#include <fastdds/rtps/common/Token.h>
-
-#if HAVE_SECURITY
-#include <fastdds/rtps/attributes/EndpointSecurityAttributes.h>
-#endif // if HAVE_SECURITY
-
-#include <string>
-#include <vector>
-
-namespace eprosima {
-namespace fastdds {
-
-#if HAVE_SECURITY
-namespace rtps {
-namespace security {
-struct ParticipantSecurityAttributes;
-} /* namespace security */
-} /* namespace rtps */
-#endif // if HAVE_SECURITY
-
-using ParameterId_t = fastdds::dds::ParameterId_t;
-using Parameter_t = fastdds::dds::Parameter_t;
-using ParameterKey_t = fastdds::dds::ParameterKey_t;
-using ParameterLocator_t = fastdds::dds::ParameterLocator_t;
-using ParameterString_t = fastdds::dds::ParameterString_t;
-using ParameterPort_t = fastdds::dds::ParameterPort_t;
-using ParameterGuid_t = fastdds::dds::ParameterGuid_t;
-using ParameterProtocolVersion_t = fastdds::dds::ParameterProtocolVersion_t;
-using ParameterVendorId_t = fastdds::dds::ParameterVendorId_t;
-using ParameterDomainId_t = fastdds::dds::ParameterDomainId_t;
-using ParameterIP4Address_t = fastdds::dds::ParameterIP4Address_t;
-using ParameterBool_t = fastdds::dds::ParameterBool_t;
-using ParameterStatusInfo_t = fastdds::dds::ParameterStatusInfo_t;
-using ParameterCount_t = fastdds::dds::ParameterCount_t;
-using ParameterEntityId_t = fastdds::dds::ParameterEntityId_t;
-using ParameterTime_t = fastdds::dds::ParameterTime_t;
-using ParameterBuiltinEndpointSet_t = fastdds::dds::ParameterBuiltinEndpointSet_t;
-using ParameterNetworkConfigSet_t = fastdds::dds::ParameterNetworkConfigSet_t;
-using ParameterPropertyList_t = fastdds::dds::ParameterPropertyList_t;
-using ParameterSampleIdentity_t = fastdds::dds::ParameterSampleIdentity_t;
-#if HAVE_SECURITY
-using ParameterToken_t = fastdds::dds::ParameterToken_t;
-using ParameterParticipantSecurityInfo_t = fastdds::dds::ParameterParticipantSecurityInfo_t;
-using ParameterEndpointSecurityInfo_t = fastdds::dds::ParameterEndpointSecurityInfo_t;
-#endif // if HAVE_SECURITY
-
-} //end of namespace
-} //end of namespace eprosima
-
-#endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
-#endif /* PARAMETERTYPES_H_ */
diff --git a/include/fastrtps/qos/QosPolicies.h b/include/fastrtps/qos/QosPolicies.h
deleted file mode 100644
index c68d2082fe7..00000000000
--- a/include/fastrtps/qos/QosPolicies.h
+++ /dev/null
@@ -1,112 +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 QosPolicies.h
- *
- */
-
-#ifndef QOS_POLICIES_H_
-#define QOS_POLICIES_H_
-
-#include <fastdds/dds/core/policy/QosPolicies.hpp>
-
-#include <vector>
-#include <fastdds/rtps/common/Types.h>
-#include <fastdds/rtps/common/Time_t.h>
-#include <fastrtps/qos/ParameterTypes.h>
-
-namespace eprosima {
-namespace fastdds {
-
-using QosPolicy = fastdds::dds::QosPolicy;
-using DurabilityQosPolicyKind = fastdds::dds::DurabilityQosPolicyKind;
-constexpr DurabilityQosPolicyKind VOLATILE_DURABILITY_QOS = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
-constexpr DurabilityQosPolicyKind TRANSIENT_LOCAL_DURABILITY_QOS =
-        DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
-constexpr DurabilityQosPolicyKind TRANSIENT_DURABILITY_QOS = DurabilityQosPolicyKind::TRANSIENT_DURABILITY_QOS;
-constexpr DurabilityQosPolicyKind PERSISTENT_DURABILITY_QOS = DurabilityQosPolicyKind::PERSISTENT_DURABILITY_QOS;
-using DurabilityQosPolicy = fastdds::dds::DurabilityQosPolicy;
-using DeadlineQosPolicy = fastdds::dds::DeadlineQosPolicy;
-using LatencyBudgetQosPolicy  = fastdds::dds::LatencyBudgetQosPolicy;
-using LivelinessQosPolicyKind = fastdds::dds::LivelinessQosPolicyKind;
-constexpr LivelinessQosPolicyKind AUTOMATIC_LIVELINESS_QOS = LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS;
-constexpr LivelinessQosPolicyKind MANUAL_BY_PARTICIPANT_LIVELINESS_QOS =
-        LivelinessQosPolicyKind::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
-constexpr LivelinessQosPolicyKind MANUAL_BY_TOPIC_LIVELINESS_QOS =
-        LivelinessQosPolicyKind::MANUAL_BY_TOPIC_LIVELINESS_QOS;
-using LivelinessQosPolicy = fastdds::dds::LivelinessQosPolicy;
-using ReliabilityQosPolicyKind = fastdds::dds::ReliabilityQosPolicyKind;
-constexpr ReliabilityQosPolicyKind BEST_EFFORT_RELIABILITY_QOS = ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS;
-constexpr ReliabilityQosPolicyKind RELIABLE_RELIABILITY_QOS = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
-using ReliabilityQosPolicy = fastdds::dds::ReliabilityQosPolicy;
-using OwnershipQosPolicyKind =  fastdds::dds::OwnershipQosPolicyKind;
-constexpr OwnershipQosPolicyKind SHARED_OWNERSHIP_QOS = OwnershipQosPolicyKind::SHARED_OWNERSHIP_QOS;
-constexpr OwnershipQosPolicyKind EXCLUSIVE_OWNERSHIP_QOS = OwnershipQosPolicyKind::EXCLUSIVE_OWNERSHIP_QOS;
-using OwnershipQosPolicy = fastdds::dds::OwnershipQosPolicy;
-using DestinationOrderQosPolicyKind = fastdds::dds::DestinationOrderQosPolicyKind;
-constexpr DestinationOrderQosPolicyKind BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS =
-        DestinationOrderQosPolicyKind::BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS;
-constexpr DestinationOrderQosPolicyKind BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS =
-        DestinationOrderQosPolicyKind::BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS;
-using DestinationOrderQosPolicy = fastdds::dds::DestinationOrderQosPolicy;
-using TimeBasedFilterQosPolicy = fastdds::dds::TimeBasedFilterQosPolicy;
-using PresentationQosPolicyAccessScopeKind = fastdds::dds::PresentationQosPolicyAccessScopeKind;
-constexpr PresentationQosPolicyAccessScopeKind INSTANCE_PRESENTATION_QOS =
-        PresentationQosPolicyAccessScopeKind::INSTANCE_PRESENTATION_QOS;
-constexpr PresentationQosPolicyAccessScopeKind TOPIC_PRESENTATION_QOS =
-        PresentationQosPolicyAccessScopeKind::TOPIC_PRESENTATION_QOS;
-constexpr PresentationQosPolicyAccessScopeKind GROUP_PRESENTATION_QOS =
-        PresentationQosPolicyAccessScopeKind::GROUP_PRESENTATION_QOS;
-using PresentationQosPolicy = fastdds::dds::PresentationQosPolicy;
-using PartitionQosPolicy = fastdds::dds::PartitionQosPolicy;
-using UserDataQosPolicy = fastdds::dds::UserDataQosPolicy;
-using TopicDataQosPolicy = fastdds::dds::TopicDataQosPolicy;
-using GroupDataQosPolicy = fastdds::dds::GroupDataQosPolicy;
-using HistoryQosPolicyKind = fastdds::dds::HistoryQosPolicyKind;
-constexpr HistoryQosPolicyKind KEEP_LAST_HISTORY_QOS = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
-constexpr HistoryQosPolicyKind KEEP_ALL_HISTORY_QOS = HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
-using HistoryQosPolicy = fastdds::dds::HistoryQosPolicy;
-using ResourceLimitsQosPolicy = fastdds::dds::ResourceLimitsQosPolicy;
-using DurabilityServiceQosPolicy = fastdds::dds::DurabilityServiceQosPolicy;
-using LifespanQosPolicy = fastdds::dds::LifespanQosPolicy;
-using OwnershipStrengthQosPolicy = fastdds::dds::OwnershipStrengthQosPolicy;
-using TransportPriorityQosPolicy = fastdds::dds::TransportPriorityQosPolicy;
-using PublishModeQosPolicyKind = fastdds::dds::PublishModeQosPolicyKind;
-constexpr PublishModeQosPolicyKind SYNCHRONOUS_PUBLISH_MODE = PublishModeQosPolicyKind::SYNCHRONOUS_PUBLISH_MODE;
-constexpr PublishModeQosPolicyKind ASYNCHRONOUS_PUBLISH_MODE = PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE;
-using PublishModeQosPolicy = fastdds::dds::PublishModeQosPolicy;
-using DataRepresentationId = fastdds::dds::DataRepresentationId;
-using DataRepresentationQosPolicy = fastdds::dds::DataRepresentationQosPolicy;
-using TypeConsistencyKind = fastdds::dds::TypeConsistencyKind;
-constexpr TypeConsistencyKind DISALLOW_TYPE_COERCION = TypeConsistencyKind::DISALLOW_TYPE_COERCION;
-constexpr TypeConsistencyKind ALLOW_TYPE_COERCION = TypeConsistencyKind::ALLOW_TYPE_COERCION;
-using TypeConsistencyEnforcementQosPolicy = fastdds::dds::TypeConsistencyEnforcementQosPolicy;
-using DisablePositiveACKsQosPolicy = fastdds::dds::DisablePositiveACKsQosPolicy;
-using DataSharingQosPolicy = fastdds::dds::DataSharingQosPolicy;
-using DataSharingKind = fastdds::dds::DataSharingKind;
-constexpr DataSharingKind AUTO = DataSharingKind::AUTO;
-constexpr DataSharingKind ON = DataSharingKind::ON;
-constexpr DataSharingKind OFF = DataSharingKind::OFF;
-using TypeIdV1 = fastdds::dds::TypeIdV1;
-using TypeObjectV1 = fastdds::dds::TypeObjectV1;
-
-namespace xtypes {
-using TypeInformationParameter = fastdds::dds::xtypes::TypeInformationParameter;
-} //namespace xtypes
-
-} // namespace fastdds
-} // namespace eprosima
-
-#endif /* QOS_POLICIES_H_ */
diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
index 463948e9f39..d895f78ec7b 100644
--- a/src/cpp/CMakeLists.txt
+++ b/src/cpp/CMakeLists.txt
@@ -595,15 +595,6 @@ install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}
     PATTERN "*.ipp"
     )
 
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/fastrtps
-    DESTINATION ${INCLUDE_INSTALL_DIR}
-    COMPONENT headers
-    FILES_MATCHING
-    PATTERN "*.h"
-    PATTERN "*.hpp"
-    PATTERN "*.ipp"
-    )
-
 # Install config.h header
 install(FILES ${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}/config.h
     DESTINATION ${INCLUDE_INSTALL_DIR}/${PROJECT_NAME}
diff --git a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
index c1060e248bc..6f55d932247 100644
--- a/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
+++ b/src/cpp/fastdds/builtin/type_lookup_service/TypeLookupManager.cpp
@@ -146,16 +146,16 @@ bool TypeLookupManager::assign_remote_endpoints(
     temp_writer_proxy_data_->persistence_guid().guidPrefix = pdata.m_guid.guidPrefix;
     temp_writer_proxy_data_->set_remote_locators(pdata.metatraffic_locators, network, true);
     temp_writer_proxy_data_->topicKind(NO_KEY);
-    temp_writer_proxy_data_->m_qos.m_durability.kind = fastdds::VOLATILE_DURABILITY_QOS;
-    temp_writer_proxy_data_->m_qos.m_reliability.kind = fastdds::RELIABLE_RELIABILITY_QOS;
+    temp_writer_proxy_data_->m_qos.m_durability.kind = fastdds::dds::VOLATILE_DURABILITY_QOS;
+    temp_writer_proxy_data_->m_qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
     temp_reader_proxy_data_->clear();
     temp_reader_proxy_data_->m_expectsInlineQos = false;
     temp_reader_proxy_data_->guid().guidPrefix = pdata.m_guid.guidPrefix;
     temp_reader_proxy_data_->set_remote_locators(pdata.metatraffic_locators, network, true);
     temp_reader_proxy_data_->topicKind(NO_KEY);
-    temp_reader_proxy_data_->m_qos.m_durability.kind = fastdds::VOLATILE_DURABILITY_QOS;
-    temp_reader_proxy_data_->m_qos.m_reliability.kind = fastdds::RELIABLE_RELIABILITY_QOS;
+    temp_reader_proxy_data_->m_qos.m_durability.kind = fastdds::dds::VOLATILE_DURABILITY_QOS;
+    temp_reader_proxy_data_->m_qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
     EPROSIMA_LOG_INFO(TYPELOOKUP_SERVICE, "for RTPSParticipant: " << pdata.m_guid);
 
diff --git a/src/cpp/fastdds/publisher/PublisherImpl.hpp b/src/cpp/fastdds/publisher/PublisherImpl.hpp
index 782484fc435..c361d48351e 100644
--- a/src/cpp/fastdds/publisher/PublisherImpl.hpp
+++ b/src/cpp/fastdds/publisher/PublisherImpl.hpp
@@ -44,6 +44,7 @@ namespace fastdds {
 namespace rtps {
 
 class RTPSParticipant;
+class IPayloadPool;
 
 } //namespace rtps
 
diff --git a/src/cpp/fastdds/subscriber/SubscriberImpl.hpp b/src/cpp/fastdds/subscriber/SubscriberImpl.hpp
index b6bb6af2732..9966ace8e51 100644
--- a/src/cpp/fastdds/subscriber/SubscriberImpl.hpp
+++ b/src/cpp/fastdds/subscriber/SubscriberImpl.hpp
@@ -38,6 +38,7 @@ namespace fastdds {
 namespace rtps {
 
 class RTPSParticipant;
+class IPayloadPool;
 
 } //namespace rtps
 
diff --git a/src/cpp/rtps/attributes/TopicAttributes.cpp b/src/cpp/rtps/attributes/TopicAttributes.cpp
index 2cef11846d2..d05bb5fe4d0 100644
--- a/src/cpp/rtps/attributes/TopicAttributes.cpp
+++ b/src/cpp/rtps/attributes/TopicAttributes.cpp
@@ -41,7 +41,7 @@ bool TopicAttributes::checkQos() const
         }
     }
 
-    if (historyQos.kind == KEEP_LAST_HISTORY_QOS)
+    if (historyQos.kind == dds::KEEP_LAST_HISTORY_QOS)
     {
         if ((resourceLimitsQos.max_samples > 0) && (historyQos.depth > resourceLimitsQos.max_samples))
         {
diff --git a/src/cpp/rtps/builtin/data/ParticipantProxyData.cpp b/src/cpp/rtps/builtin/data/ParticipantProxyData.cpp
index 3e6b606d135..c94f6f36621 100644
--- a/src/cpp/rtps/builtin/data/ParticipantProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/ParticipantProxyData.cpp
@@ -194,7 +194,7 @@ uint32_t ParticipantProxyData::get_serialized_size(
     if (m_userData.size() > 0)
     {
         // PID_USER_DATA
-        ret_val += fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::cdr_serialized_size(m_userData);
+        ret_val += fastdds::dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::cdr_serialized_size(m_userData);
     }
 
     if (m_properties.size() > 0)
@@ -347,7 +347,7 @@ bool ParticipantProxyData::writeToCDRMessage(
 
     if (m_userData.size() > 0)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::add_to_cdr_message(m_userData,
+        if (!fastdds::dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::add_to_cdr_message(m_userData,
                 msg))
         {
             return false;
@@ -677,8 +677,9 @@ bool ParticipantProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_USER_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::read_from_cdr_message(m_userData,
-                                msg, plength))
+                        if (!fastdds::dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::read_from_cdr_message(
+                                    m_userData,
+                                    msg, plength))
                         {
                             return false;
                         }
diff --git a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
index 33317b71e55..8a14bdc2e27 100644
--- a/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/ReaderProxyData.cpp
@@ -58,7 +58,7 @@ ReaderProxyData::ReaderProxyData (
 {
     // As DDS-XTypes, v1.2 (page 182) document stablishes, local default is ALLOW_TYPE_COERCION,
     // but when remotes doesn't send TypeConsistencyQos, we must assume DISALLOW.
-    m_qos.type_consistency.m_kind = DISALLOW_TYPE_COERCION;
+    m_qos.type_consistency.m_kind = dds::DISALLOW_TYPE_COERCION;
 }
 
 ReaderProxyData::ReaderProxyData (
@@ -204,10 +204,10 @@ uint32_t ReaderProxyData::get_serialized_size(
     ret_val += 4 + PARAMETER_GUID_LENGTH;
 
     // PID_TOPIC_NAME
-    ret_val += fastdds::dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_topicName);
+    ret_val += dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_topicName);
 
     // PID_TYPE_NAME
-    ret_val += fastdds::dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_typeName);
+    ret_val += dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_typeName);
 
     // PID_KEY_HASH
     ret_val += 4 + 16;
@@ -220,103 +220,107 @@ uint32_t ReaderProxyData::get_serialized_size(
 
     if (m_qos.m_durability.send_always() || m_qos.m_durability.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::cdr_serialized_size(m_qos.m_durability);
+        ret_val +=
+                dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::cdr_serialized_size(m_qos.m_durability);
     }
     if (m_qos.m_durabilityService.send_always() || m_qos.m_durabilityService.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::cdr_serialized_size(
             m_qos.m_durabilityService);
     }
     if (m_qos.m_deadline.send_always() || m_qos.m_deadline.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::cdr_serialized_size(m_qos.m_deadline);
+        ret_val += dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::cdr_serialized_size(m_qos.m_deadline);
     }
     if (m_qos.m_latencyBudget.send_always() || m_qos.m_latencyBudget.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::cdr_serialized_size(
             m_qos.m_latencyBudget);
     }
     if (m_qos.m_liveliness.send_always() || m_qos.m_liveliness.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::cdr_serialized_size(m_qos.m_liveliness);
+        ret_val +=
+                dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::cdr_serialized_size(m_qos.m_liveliness);
     }
     if (m_qos.m_reliability.send_always() || m_qos.m_reliability.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::cdr_serialized_size(m_qos.m_reliability);
+        ret_val += dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::cdr_serialized_size(
+            m_qos.m_reliability);
     }
     if (m_qos.m_lifespan.send_always() || m_qos.m_lifespan.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::cdr_serialized_size(m_qos.m_lifespan);
+        ret_val += dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::cdr_serialized_size(m_qos.m_lifespan);
     }
     if (m_qos.m_userData.send_always() || m_qos.m_userData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::cdr_serialized_size(m_qos.m_userData);
+        ret_val += dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::cdr_serialized_size(m_qos.m_userData);
     }
     if (m_qos.m_timeBasedFilter.send_always() || m_qos.m_timeBasedFilter.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::cdr_serialized_size(
             m_qos.m_timeBasedFilter);
     }
     if (m_qos.m_ownership.send_always() || m_qos.m_ownership.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::cdr_serialized_size(m_qos.m_ownership);
+        ret_val += dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::cdr_serialized_size(m_qos.m_ownership);
     }
     if (m_qos.m_destinationOrder.send_always() || m_qos.m_destinationOrder.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::cdr_serialized_size(
             m_qos.m_destinationOrder);
     }
     if (m_qos.m_presentation.send_always() || m_qos.m_presentation.hasChanged)
     {
         ret_val +=
-                fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::cdr_serialized_size(m_qos.m_presentation);
+                dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::cdr_serialized_size(
+            m_qos.m_presentation);
     }
     if (m_qos.m_partition.send_always() || m_qos.m_partition.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::cdr_serialized_size(m_qos.m_partition);
+        ret_val += dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::cdr_serialized_size(m_qos.m_partition);
     }
     if (m_qos.m_topicData.send_always() || m_qos.m_topicData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::cdr_serialized_size(m_qos.m_topicData);
+        ret_val += dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::cdr_serialized_size(m_qos.m_topicData);
     }
     if (m_qos.m_groupData.send_always() || m_qos.m_groupData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::cdr_serialized_size(m_qos.m_groupData);
+        ret_val += dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::cdr_serialized_size(m_qos.m_groupData);
     }
     if (m_qos.m_disablePositiveACKs.send_always() || m_qos.m_disablePositiveACKs.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::cdr_serialized_size(
             m_qos.m_disablePositiveACKs);
     }
     if (m_type_information && m_type_information->assigned())
     {
         ret_val +=
-                fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::cdr_serialized_size(
+                dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::cdr_serialized_size(
             *m_type_information);
     }
     if (m_qos.type_consistency.send_always() || m_qos.type_consistency.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TypeConsistencyEnforcementQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::TypeConsistencyEnforcementQosPolicy>::cdr_serialized_size(
             m_qos.type_consistency);
     }
     if ((m_qos.data_sharing.send_always() || m_qos.data_sharing.hasChanged) &&
             m_qos.data_sharing.kind() != fastdds::dds::OFF)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::cdr_serialized_size(
             m_qos.data_sharing);
     }
 
     if (m_properties.size() > 0)
     {
         // PID_PROPERTY_LIST
-        ret_val += fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::cdr_serialized_size(m_properties);
+        ret_val += dds::ParameterSerializer<dds::ParameterPropertyList_t>::cdr_serialized_size(m_properties);
     }
 
     // PID_CONTENT_FILTER_PROPERTY
     // Take into count only when filter_class_name and filter_expression are not empty.
     if (0 < content_filter_.filter_class_name.size() && 0 < content_filter_.filter_expression.size())
     {
-        ret_val += fastdds::dds::ParameterSerializer<ContentFilterProperty>::cdr_serialized_size(content_filter_);
+        ret_val += dds::ParameterSerializer<ContentFilterProperty>::cdr_serialized_size(content_filter_);
     }
 
 #if HAVE_SECURITY
@@ -328,19 +332,19 @@ uint32_t ReaderProxyData::get_serialized_size(
 
     if (m_qos.representation.send_always() || m_qos.representation.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::cdr_serialized_size(
             m_qos.representation);
     }
 
     if (m_qos.type_consistency.send_always() || m_qos.type_consistency.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TypeConsistencyEnforcementQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::TypeConsistencyEnforcementQosPolicy>::cdr_serialized_size(
             m_qos.type_consistency);
     }
     if (m_type_information && m_type_information->assigned())
     {
         ret_val +=
-                fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::cdr_serialized_size(
+                dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::cdr_serialized_size(
             *m_type_information);
     }
 
@@ -362,7 +366,7 @@ bool ReaderProxyData::writeToCDRMessage(
 
     {
         ParameterGuid_t p(fastdds::dds::PID_ENDPOINT_GUID, PARAMETER_GUID_LENGTH, m_guid);
-        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -371,7 +375,7 @@ bool ReaderProxyData::writeToCDRMessage(
     {
         ParameterNetworkConfigSet_t p(fastdds::dds::PID_NETWORK_CONFIGURATION_SET, PARAMETER_NETWORKCONFIGSET_LENGTH);
         p.netconfigSet = m_networkConfiguration;
-        if (!fastdds::dds::ParameterSerializer<ParameterNetworkConfigSet_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterNetworkConfigSet_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -380,7 +384,7 @@ bool ReaderProxyData::writeToCDRMessage(
     for (const Locator_t& locator : remote_locators_.unicast)
     {
         ParameterLocator_t p(fastdds::dds::PID_UNICAST_LOCATOR, PARAMETER_LOCATOR_LENGTH, locator);
-        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -388,165 +392,167 @@ bool ReaderProxyData::writeToCDRMessage(
     for (const Locator_t& locator : remote_locators_.multicast)
     {
         ParameterLocator_t p(fastdds::dds::PID_MULTICAST_LOCATOR, PARAMETER_LOCATOR_LENGTH, locator);
-        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterBool_t p(fastdds::dds::PID_EXPECTS_INLINE_QOS, PARAMETER_BOOL_LENGTH, m_expectsInlineQos);
-        if (!fastdds::dds::ParameterSerializer<ParameterBool_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterBool_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterGuid_t p(fastdds::dds::PID_PARTICIPANT_GUID, PARAMETER_GUID_LENGTH, m_RTPSParticipantKey);
-        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterString_t p(fastdds::dds::PID_TOPIC_NAME, 0, m_topicName);
-        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterString_t p(fastdds::dds::PID_TYPE_NAME, 0, m_typeName);
-        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterKey_t p(fastdds::dds::PID_KEY_HASH, 16, m_key);
-        if (!fastdds::dds::ParameterSerializer<ParameterKey_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterKey_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterProtocolVersion_t p(fastdds::dds::PID_PROTOCOL_VERSION, 4);
-        if (!fastdds::dds::ParameterSerializer<ParameterProtocolVersion_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterProtocolVersion_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterVendorId_t p(fastdds::dds::PID_VENDORID, 4);
-        if (!fastdds::dds::ParameterSerializer<ParameterVendorId_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterVendorId_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     if (m_qos.m_durability.send_always() || m_qos.m_durability.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::add_to_cdr_message(m_qos.m_durability, msg))
+        if (!dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::add_to_cdr_message(m_qos.m_durability, msg))
         {
             return false;
         }
     }
     if (m_qos.m_durabilityService.send_always() || m_qos.m_durabilityService.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::add_to_cdr_message(m_qos.
-                        m_durabilityService, msg))
+        if (!dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::add_to_cdr_message(
+                    m_qos.m_durabilityService, msg))
         {
             return false;
         }
     }
     if (m_qos.m_deadline.send_always() || m_qos.m_deadline.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::add_to_cdr_message(m_qos.m_deadline, msg))
+        if (!dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::add_to_cdr_message(m_qos.m_deadline, msg))
         {
             return false;
         }
     }
     if (m_qos.m_latencyBudget.send_always() || m_qos.m_latencyBudget.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::add_to_cdr_message(m_qos.m_latencyBudget,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::add_to_cdr_message(
+                    m_qos.m_latencyBudget, msg))
         {
             return false;
         }
     }
     if (m_qos.m_liveliness.send_always() || m_qos.m_liveliness.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::add_to_cdr_message(m_qos.m_liveliness, msg))
+        if (!dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::add_to_cdr_message(m_qos.m_liveliness, msg))
         {
             return false;
         }
     }
     if (m_qos.m_reliability.send_always() || m_qos.m_reliability.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::add_to_cdr_message(m_qos.m_reliability, msg))
+        if (!dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::add_to_cdr_message(
+                    m_qos.m_reliability, msg))
         {
             return false;
         }
     }
     if (m_qos.m_lifespan.send_always() || m_qos.m_lifespan.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::add_to_cdr_message(m_qos.m_lifespan, msg))
+        if (!dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::add_to_cdr_message(m_qos.m_lifespan, msg))
         {
             return false;
         }
     }
     if (m_qos.m_userData.send_always() || m_qos.m_userData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::add_to_cdr_message(m_qos.m_userData, msg))
+        if (!dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::add_to_cdr_message(m_qos.m_userData, msg))
         {
             return false;
         }
     }
     if (m_qos.m_timeBasedFilter.send_always() || m_qos.m_timeBasedFilter.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::add_to_cdr_message(m_qos.m_timeBasedFilter,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::add_to_cdr_message(
+                    m_qos.m_timeBasedFilter, msg))
         {
             return false;
         }
     }
     if (m_qos.m_ownership.send_always() || m_qos.m_ownership.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::add_to_cdr_message(m_qos.m_ownership, msg))
+        if (!dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::add_to_cdr_message(m_qos.m_ownership, msg))
         {
             return false;
         }
     }
     if (m_qos.m_destinationOrder.send_always() || m_qos.m_destinationOrder.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::add_to_cdr_message(m_qos.m_destinationOrder,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::add_to_cdr_message(
+                    m_qos.m_destinationOrder, msg))
         {
             return false;
         }
     }
     if (m_qos.m_presentation.send_always() || m_qos.m_presentation.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::add_to_cdr_message(m_qos.m_presentation, msg))
+        if (!dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::add_to_cdr_message(
+                    m_qos.m_presentation, msg))
         {
             return false;
         }
     }
     if (m_qos.m_partition.send_always() || m_qos.m_partition.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::add_to_cdr_message(m_qos.m_partition, msg))
+        if (!dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::add_to_cdr_message(m_qos.m_partition, msg))
         {
             return false;
         }
     }
     if (m_qos.m_topicData.send_always() || m_qos.m_topicData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::add_to_cdr_message(m_qos.m_topicData, msg))
+        if (!dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::add_to_cdr_message(m_qos.m_topicData, msg))
         {
             return false;
         }
     }
     if (m_qos.m_groupData.send_always() || m_qos.m_groupData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::add_to_cdr_message(m_qos.m_groupData, msg))
+        if (!dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::add_to_cdr_message(m_qos.m_groupData, msg))
         {
             return false;
         }
@@ -554,8 +560,8 @@ bool ReaderProxyData::writeToCDRMessage(
     if ((m_qos.m_disablePositiveACKs.send_always() || m_qos.m_topicData.hasChanged) &&
             m_qos.m_disablePositiveACKs.enabled)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::add_to_cdr_message(m_qos.
-                        m_disablePositiveACKs, msg))
+        if (!dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::add_to_cdr_message(
+                    m_qos.m_disablePositiveACKs, msg))
         {
             return false;
         }
@@ -564,7 +570,8 @@ bool ReaderProxyData::writeToCDRMessage(
     if ((m_qos.data_sharing.send_always() || m_qos.data_sharing.hasChanged) &&
             m_qos.data_sharing.kind() != fastdds::dds::OFF)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::add_to_cdr_message(m_qos.data_sharing, msg))
+        if (!dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::add_to_cdr_message(
+                    m_qos.data_sharing, msg))
         {
             return false;
         }
@@ -572,15 +579,15 @@ bool ReaderProxyData::writeToCDRMessage(
 
     if (m_type_id && m_type_id->m_type_identifier._d() != fastdds::dds::xtypes::TK_NONE)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::add_to_cdr_message(*
-                m_type_information, msg))
+        if (!dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::add_to_cdr_message(
+                    *m_type_information, msg))
         {
             return false;
         }
     }
     if (m_properties.size() > 0)
     {
-        if (!fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::add_to_cdr_message(m_properties, msg))
+        if (!dds::ParameterSerializer<dds::ParameterPropertyList_t>::add_to_cdr_message(m_properties, msg))
         {
             return false;
         }
@@ -589,7 +596,7 @@ bool ReaderProxyData::writeToCDRMessage(
     // Serialize ContentFilterProperty only when filter_class_name and filter_expression are not empty.
     if (0 < content_filter_.filter_class_name.size() && 0 < content_filter_.filter_expression.size())
     {
-        if (!fastdds::dds::ParameterSerializer<ContentFilterProperty>::add_to_cdr_message(content_filter_, msg))
+        if (!dds::ParameterSerializer<ContentFilterProperty>::add_to_cdr_message(content_filter_, msg))
         {
             return false;
         }
@@ -601,7 +608,7 @@ bool ReaderProxyData::writeToCDRMessage(
         ParameterEndpointSecurityInfo_t p;
         p.security_attributes = security_attributes_;
         p.plugin_security_attributes = plugin_security_attributes_;
-        if (!fastdds::dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -610,8 +617,8 @@ bool ReaderProxyData::writeToCDRMessage(
 
     if (m_qos.representation.send_always() || m_qos.representation.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::add_to_cdr_message(m_qos.representation,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::add_to_cdr_message(
+                    m_qos.representation, msg))
         {
             return false;
         }
@@ -619,8 +626,8 @@ bool ReaderProxyData::writeToCDRMessage(
 
     if (m_qos.type_consistency.send_always() || m_qos.type_consistency.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<TypeConsistencyEnforcementQosPolicy>::add_to_cdr_message(m_qos.
-                        type_consistency, msg))
+        if (!dds::QosPoliciesSerializer<dds::TypeConsistencyEnforcementQosPolicy>::add_to_cdr_message(
+                    m_qos.type_consistency, msg))
         {
             return false;
         }
@@ -628,14 +635,14 @@ bool ReaderProxyData::writeToCDRMessage(
 
     if (m_type_information && m_type_information->assigned())
     {
-        if (!fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::add_to_cdr_message(*
-                m_type_information, msg))
+        if (!dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::add_to_cdr_message(
+                    *m_type_information, msg))
         {
             return false;
         }
     }
 
-    return fastdds::dds::ParameterSerializer<Parameter_t>::add_parameter_sentinel(msg);
+    return dds::ParameterSerializer<Parameter_t>::add_parameter_sentinel(msg);
 }
 
 bool ReaderProxyData::readFromCDRMessage(
@@ -655,8 +662,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_VENDORID:
                     {
                         ParameterVendorId_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterVendorId_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterVendorId_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -667,7 +674,7 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DURABILITY:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::read_from_cdr_message(
                                     m_qos.m_durability, msg, plength))
                         {
                             return false;
@@ -676,7 +683,7 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DURABILITY_SERVICE:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::read_from_cdr_message(
                                     m_qos.m_durabilityService, msg, plength))
                         {
                             return false;
@@ -685,8 +692,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DEADLINE:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_deadline, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_deadline, msg, plength))
                         {
                             return false;
                         }
@@ -694,8 +701,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LATENCY_BUDGET:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_latencyBudget, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_latencyBudget, msg, plength))
                         {
                             return false;
                         }
@@ -703,8 +710,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LIVELINESS:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_liveliness, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_liveliness, msg, plength))
                         {
                             return false;
                         }
@@ -712,8 +719,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_RELIABILITY:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_reliability, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_reliability, msg, plength))
                         {
                             return false;
                         }
@@ -721,8 +728,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LIFESPAN:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_lifespan, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_lifespan, msg, plength))
                         {
                             return false;
                         }
@@ -730,8 +737,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_USER_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_userData, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_userData, msg, plength))
                         {
                             return false;
                         }
@@ -739,8 +746,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TIME_BASED_FILTER:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_timeBasedFilter, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_timeBasedFilter, msg, plength))
                         {
                             return false;
                         }
@@ -748,8 +755,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_OWNERSHIP:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_ownership, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_ownership, msg, plength))
                         {
                             return false;
                         }
@@ -757,8 +764,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DESTINATION_ORDER:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::read_from_cdr_message(m_qos
-                                        .m_destinationOrder, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_destinationOrder, msg, plength))
                         {
                             return false;
                         }
@@ -766,8 +773,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_PRESENTATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_presentation, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_presentation, msg, plength))
                         {
                             return false;
                         }
@@ -775,8 +782,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_PARTITION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_partition, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_partition, msg, plength))
                         {
                             return false;
                         }
@@ -784,8 +791,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TOPIC_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_topicData, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_topicData, msg, plength))
                         {
                             return false;
                         }
@@ -793,8 +800,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_GROUP_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_groupData, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_groupData, msg, plength))
                         {
                             return false;
                         }
@@ -803,8 +810,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_TOPIC_NAME:
                     {
                         ParameterString_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -815,8 +822,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_TYPE_NAME:
                     {
                         ParameterString_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -827,8 +834,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_PARTICIPANT_GUID:
                     {
                         ParameterGuid_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -839,8 +846,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_ENDPOINT_GUID:
                     {
                         ParameterGuid_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -866,8 +873,8 @@ bool ReaderProxyData::readFromCDRMessage(
                         }
 
                         ParameterNetworkConfigSet_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterNetworkConfigSet_t>::read_from_cdr_message(p,
-                                msg, plength))
+                        if (!dds::ParameterSerializer<ParameterNetworkConfigSet_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -878,8 +885,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_UNICAST_LOCATOR:
                     {
                         ParameterLocator_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -906,8 +913,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_MULTICAST_LOCATOR:
                     {
                         ParameterLocator_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -934,8 +941,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_EXPECTS_INLINE_QOS:
                     {
                         ParameterBool_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterBool_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterBool_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -946,8 +953,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_KEY_HASH:
                     {
                         ParameterKey_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterKey_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterKey_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -958,7 +965,7 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DATA_REPRESENTATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::read_from_cdr_message(
                                     m_qos.representation, msg, plength))
                         {
                             return false;
@@ -967,7 +974,7 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TYPE_CONSISTENCY_ENFORCEMENT:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<TypeConsistencyEnforcementQosPolicy>::
+                        if (!dds::QosPoliciesSerializer<dds::TypeConsistencyEnforcementQosPolicy>::
                                 read_from_cdr_message(m_qos.type_consistency, msg, plength))
                         {
                             return false;
@@ -988,8 +995,8 @@ bool ReaderProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TYPE_INFORMATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::
-                                read_from_cdr_message(type_information(), msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::read_from_cdr_message(
+                                    type_information(), msg, plength))
                         {
                             return false;
                         }
@@ -1013,7 +1020,8 @@ bool ReaderProxyData::readFromCDRMessage(
                             return true;
                         }
 
-                        if (!fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::
+                                read_from_cdr_message(
                                     m_qos.m_disablePositiveACKs, msg, plength))
                         {
                             return false;
@@ -1024,7 +1032,7 @@ bool ReaderProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_ENDPOINT_SECURITY_INFO:
                     {
                         ParameterEndpointSecurityInfo_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::read_from_cdr_message(
+                        if (!dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::read_from_cdr_message(
                                     p, msg, plength))
                         {
                             return false;
@@ -1037,7 +1045,7 @@ bool ReaderProxyData::readFromCDRMessage(
 #endif // if HAVE_SECURITY
                     case fastdds::dds::PID_PROPERTY_LIST:
                     {
-                        if (!fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::read_from_cdr_message(
+                        if (!dds::ParameterSerializer<dds::ParameterPropertyList_t>::read_from_cdr_message(
                                     m_properties, msg, plength))
                         {
                             return false;
@@ -1047,7 +1055,7 @@ bool ReaderProxyData::readFromCDRMessage(
 
                     case fastdds::dds::PID_CONTENT_FILTER_PROPERTY:
                     {
-                        if (!fastdds::dds::ParameterSerializer<ContentFilterProperty>::read_from_cdr_message(
+                        if (!dds::ParameterSerializer<ContentFilterProperty>::read_from_cdr_message(
                                     content_filter_, msg, plength))
                         {
                             return false;
@@ -1071,7 +1079,7 @@ bool ReaderProxyData::readFromCDRMessage(
                             return true;
                         }
 
-                        if (!fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::read_from_cdr_message(
                                     m_qos.data_sharing, msg, plength))
                         {
                             EPROSIMA_LOG_ERROR(RTPS_READER_PROXY_DATA,
@@ -1158,15 +1166,15 @@ void ReaderProxyData::clear()
 
     if (m_type_id)
     {
-        *m_type_id = TypeIdV1();
+        *m_type_id = dds::TypeIdV1();
     }
     if (m_type)
     {
-        *m_type = TypeObjectV1();
+        *m_type = dds::TypeObjectV1();
     }
     if (m_type_information)
     {
-        *m_type_information = xtypes::TypeInformationParameter();
+        *m_type_information = dds::xtypes::TypeInformationParameter();
     }
 }
 
diff --git a/src/cpp/rtps/builtin/data/WriterProxyData.cpp b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
index 591c3aa10bc..38c7d1cfaf6 100644
--- a/src/cpp/rtps/builtin/data/WriterProxyData.cpp
+++ b/src/cpp/rtps/builtin/data/WriterProxyData.cpp
@@ -193,10 +193,10 @@ uint32_t WriterProxyData::get_serialized_size(
     ret_val += 4 + PARAMETER_GUID_LENGTH;
 
     // PID_TOPIC_NAME
-    ret_val += fastdds::dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_topicName);
+    ret_val += dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_topicName);
 
     // PID_TYPE_NAME
-    ret_val += fastdds::dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_typeName);
+    ret_val += dds::ParameterSerializer<Parameter_t>::cdr_serialized_size(m_typeName);
 
     // PID_KEY_HASH
     ret_val += 4 + 16;
@@ -217,98 +217,98 @@ uint32_t WriterProxyData::get_serialized_size(
     }
     if (m_qos.m_durability.send_always() || m_qos.m_durability.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::cdr_serialized_size(m_qos.m_durability);
+        ret_val +=
+                dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::cdr_serialized_size(m_qos.m_durability);
     }
     if (m_qos.m_durabilityService.send_always() || m_qos.m_durabilityService.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::cdr_serialized_size(
             m_qos.m_durabilityService);
     }
     if (m_qos.m_deadline.send_always() || m_qos.m_deadline.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::cdr_serialized_size(m_qos.m_deadline);
+        ret_val += dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::cdr_serialized_size(m_qos.m_deadline);
     }
     if (m_qos.m_latencyBudget.send_always() || m_qos.m_latencyBudget.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::cdr_serialized_size(
-            m_qos.m_latencyBudget);
+        ret_val += dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::cdr_serialized_size(m_qos.m_latencyBudget);
     }
     if (m_qos.m_liveliness.send_always() || m_qos.m_liveliness.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::cdr_serialized_size(m_qos.m_liveliness);
+        ret_val +=
+                dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::cdr_serialized_size(m_qos.m_liveliness);
     }
     if (m_qos.m_reliability.send_always() || m_qos.m_reliability.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::cdr_serialized_size(m_qos.m_reliability);
+        ret_val += dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::cdr_serialized_size(m_qos.m_reliability);
     }
     if (m_qos.m_lifespan.send_always() || m_qos.m_lifespan.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::cdr_serialized_size(m_qos.m_lifespan);
+        ret_val += dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::cdr_serialized_size(m_qos.m_lifespan);
     }
     if (m_qos.m_userData.send_always() || m_qos.m_userData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::cdr_serialized_size(m_qos.m_userData);
+        ret_val += dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::cdr_serialized_size(m_qos.m_userData);
     }
     if (m_qos.m_timeBasedFilter.send_always() || m_qos.m_timeBasedFilter.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::cdr_serialized_size(
             m_qos.m_timeBasedFilter);
     }
     if (m_qos.m_ownership.send_always() || m_qos.m_ownership.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::cdr_serialized_size(m_qos.m_ownership);
+        ret_val += dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::cdr_serialized_size(m_qos.m_ownership);
     }
     if (m_qos.m_ownershipStrength.send_always() || m_qos.m_ownershipStrength.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<OwnershipStrengthQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::OwnershipStrengthQosPolicy>::cdr_serialized_size(
             m_qos.m_ownershipStrength);
     }
     if (m_qos.m_destinationOrder.send_always() || m_qos.m_destinationOrder.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::cdr_serialized_size(
             m_qos.m_destinationOrder);
     }
     if (m_qos.m_presentation.send_always() || m_qos.m_presentation.hasChanged)
     {
         ret_val +=
-                fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::cdr_serialized_size(m_qos.m_presentation);
+                dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::cdr_serialized_size(m_qos.m_presentation);
     }
     if (m_qos.m_partition.send_always() || m_qos.m_partition.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::cdr_serialized_size(m_qos.m_partition);
+        ret_val += dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::cdr_serialized_size(m_qos.m_partition);
     }
     if (m_qos.m_topicData.send_always() || m_qos.m_topicData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::cdr_serialized_size(m_qos.m_topicData);
+        ret_val += dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::cdr_serialized_size(m_qos.m_topicData);
     }
     if (m_qos.m_disablePositiveACKs.send_always() || m_qos.m_disablePositiveACKs.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::cdr_serialized_size(
             m_qos.m_disablePositiveACKs);
     }
     if ((m_qos.data_sharing.send_always() || m_qos.data_sharing.hasChanged) &&
             m_qos.data_sharing.kind() != fastdds::dds::OFF)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::cdr_serialized_size(
-            m_qos.data_sharing);
+        ret_val += dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::cdr_serialized_size(m_qos.data_sharing);
     }
     if (m_qos.m_groupData.send_always() || m_qos.m_groupData.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::cdr_serialized_size(m_qos.m_groupData);
+        ret_val += dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::cdr_serialized_size(m_qos.m_groupData);
     }
     if (m_type_id && m_type_id->m_type_identifier._d() != fastdds::dds::xtypes::TK_NONE)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TypeIdV1>::cdr_serialized_size(*m_type_id);
+        ret_val += dds::QosPoliciesSerializer<dds::TypeIdV1>::cdr_serialized_size(*m_type_id);
     }
     if (m_type && m_type->m_type_object._d() != fastdds::dds::xtypes::TK_NONE)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<TypeObjectV1>::cdr_serialized_size(*m_type);
+        ret_val += dds::QosPoliciesSerializer<dds::TypeObjectV1>::cdr_serialized_size(*m_type);
     }
 
     if (m_properties.size() > 0)
     {
         // PID_PROPERTY_LIST
-        ret_val += fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::cdr_serialized_size(m_properties);
+        ret_val += dds::ParameterSerializer<dds::ParameterPropertyList_t>::cdr_serialized_size(m_properties);
     }
 
 #if HAVE_SECURITY
@@ -320,14 +320,13 @@ uint32_t WriterProxyData::get_serialized_size(
 
     if (m_qos.representation.send_always() || m_qos.representation.hasChanged)
     {
-        ret_val += fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::cdr_serialized_size(
             m_qos.representation);
     }
 
     if (m_type_information && m_type_information->assigned())
     {
-        ret_val +=
-                fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::cdr_serialized_size(
+        ret_val += dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::cdr_serialized_size(
             *m_type_information);
     }
 
@@ -349,7 +348,7 @@ bool WriterProxyData::writeToCDRMessage(
 
     {
         ParameterGuid_t p(fastdds::dds::PID_ENDPOINT_GUID, 16, m_guid);
-        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -358,7 +357,7 @@ bool WriterProxyData::writeToCDRMessage(
     {
         ParameterNetworkConfigSet_t p(fastdds::dds::PID_NETWORK_CONFIGURATION_SET, PARAMETER_NETWORKCONFIGSET_LENGTH);
         p.netconfigSet = m_networkConfiguration;
-        if (!fastdds::dds::ParameterSerializer<ParameterNetworkConfigSet_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterNetworkConfigSet_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -367,7 +366,7 @@ bool WriterProxyData::writeToCDRMessage(
     for (const Locator_t& locator : remote_locators_.unicast)
     {
         ParameterLocator_t p(fastdds::dds::PID_UNICAST_LOCATOR, PARAMETER_LOCATOR_LENGTH, locator);
-        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -375,56 +374,56 @@ bool WriterProxyData::writeToCDRMessage(
     for (const Locator_t& locator : remote_locators_.multicast)
     {
         ParameterLocator_t p(fastdds::dds::PID_MULTICAST_LOCATOR, PARAMETER_LOCATOR_LENGTH, locator);
-        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterLocator_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterGuid_t p(fastdds::dds::PID_PARTICIPANT_GUID, PARAMETER_GUID_LENGTH, m_RTPSParticipantKey);
-        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterString_t p(fastdds::dds::PID_TOPIC_NAME, 0, m_topicName);
-        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterString_t p(fastdds::dds::PID_TYPE_NAME, 0, m_typeName);
-        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterString_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterKey_t p(fastdds::dds::PID_KEY_HASH, 16, m_key);
-        if (!fastdds::dds::ParameterSerializer<ParameterKey_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterKey_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterPort_t p(fastdds::dds::PID_TYPE_MAX_SIZE_SERIALIZED, 4, m_typeMaxSerialized);
-        if (!fastdds::dds::ParameterSerializer<ParameterPort_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterPort_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterProtocolVersion_t p(fastdds::dds::PID_PROTOCOL_VERSION, 4);
-        if (!fastdds::dds::ParameterSerializer<ParameterProtocolVersion_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterProtocolVersion_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     {
         ParameterVendorId_t p(fastdds::dds::PID_VENDORID, 4);
-        if (!fastdds::dds::ParameterSerializer<ParameterVendorId_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterVendorId_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -432,117 +431,116 @@ bool WriterProxyData::writeToCDRMessage(
     if (persistence_guid_ != c_Guid_Unknown)
     {
         ParameterGuid_t p(fastdds::dds::PID_PERSISTENCE_GUID, 16, persistence_guid_);
-        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterGuid_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
     }
     if ( m_qos.m_durability.send_always() || m_qos.m_durability.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::add_to_cdr_message(m_qos.m_durability, msg))
+        if (!dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::add_to_cdr_message(m_qos.m_durability, msg))
         {
             return false;
         }
     }
     if (m_qos.m_durabilityService.send_always() || m_qos.m_durabilityService.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::add_to_cdr_message(m_qos.
-                        m_durabilityService, msg))
+        if (!dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::add_to_cdr_message(
+                    m_qos.m_durabilityService, msg))
         {
             return false;
         }
     }
     if (m_qos.m_deadline.send_always() ||  m_qos.m_deadline.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::add_to_cdr_message(m_qos.m_deadline, msg))
+        if (!dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::add_to_cdr_message(m_qos.m_deadline, msg))
         {
             return false;
         }
     }
     if (m_qos.m_latencyBudget.send_always() ||  m_qos.m_latencyBudget.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::add_to_cdr_message(m_qos.m_latencyBudget,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::add_to_cdr_message(m_qos.m_latencyBudget, msg))
         {
             return false;
         }
     }
     if (m_qos.m_liveliness.send_always() ||  m_qos.m_liveliness.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::add_to_cdr_message(m_qos.m_liveliness, msg))
+        if (!dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::add_to_cdr_message(m_qos.m_liveliness, msg))
         {
             return false;
         }
     }
     if (m_qos.m_reliability.send_always() ||  m_qos.m_reliability.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::add_to_cdr_message(m_qos.m_reliability, msg))
+        if (!dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::add_to_cdr_message(m_qos.m_reliability, msg))
         {
             return false;
         }
     }
     if (m_qos.m_lifespan.send_always() ||  m_qos.m_lifespan.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::add_to_cdr_message(m_qos.m_lifespan, msg))
+        if (!dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::add_to_cdr_message(m_qos.m_lifespan, msg))
         {
             return false;
         }
     }
     if ( m_qos.m_userData.send_always() || m_qos.m_userData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::add_to_cdr_message(m_qos.m_userData, msg))
+        if (!dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::add_to_cdr_message(m_qos.m_userData, msg))
         {
             return false;
         }
     }
     if (m_qos.m_timeBasedFilter.send_always() ||  m_qos.m_timeBasedFilter.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::add_to_cdr_message(m_qos.m_timeBasedFilter,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::add_to_cdr_message(
+                    m_qos.m_timeBasedFilter, msg))
         {
             return false;
         }
     }
     if (m_qos.m_ownership.send_always() ||  m_qos.m_ownership.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::add_to_cdr_message(m_qos.m_ownership, msg))
+        if (!dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::add_to_cdr_message(m_qos.m_ownership, msg))
         {
             return false;
         }
     }
     if (m_qos.m_ownershipStrength.send_always() ||  m_qos.m_ownershipStrength.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<OwnershipStrengthQosPolicy>::add_to_cdr_message(m_qos.
-                        m_ownershipStrength, msg))
+        if (!dds::QosPoliciesSerializer<dds::OwnershipStrengthQosPolicy>::add_to_cdr_message(
+                    m_qos.m_ownershipStrength, msg))
         {
             return false;
         }
     }
     if (m_qos.m_destinationOrder.send_always() ||  m_qos.m_destinationOrder.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::add_to_cdr_message(m_qos.m_destinationOrder,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::add_to_cdr_message(
+                    m_qos.m_destinationOrder, msg))
         {
             return false;
         }
     }
     if (m_qos.m_presentation.send_always() ||  m_qos.m_presentation.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::add_to_cdr_message(m_qos.m_presentation, msg))
+        if (!dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::add_to_cdr_message(m_qos.m_presentation, msg))
         {
             return false;
         }
     }
     if (m_qos.m_partition.send_always() ||  m_qos.m_partition.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::add_to_cdr_message(m_qos.m_partition, msg))
+        if (!dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::add_to_cdr_message(m_qos.m_partition, msg))
         {
             return false;
         }
     }
     if (m_qos.m_topicData.send_always() || m_qos.m_topicData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::add_to_cdr_message(m_qos.m_topicData, msg))
+        if (!dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::add_to_cdr_message(m_qos.m_topicData, msg))
         {
             return false;
         }
@@ -550,8 +548,8 @@ bool WriterProxyData::writeToCDRMessage(
     if ((m_qos.m_disablePositiveACKs.send_always() || m_qos.m_topicData.hasChanged) &&
             m_qos.m_disablePositiveACKs.enabled)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::add_to_cdr_message(m_qos.
-                        m_disablePositiveACKs, msg))
+        if (!dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::add_to_cdr_message(
+                    m_qos.m_disablePositiveACKs, msg))
         {
             return false;
         }
@@ -559,29 +557,29 @@ bool WriterProxyData::writeToCDRMessage(
     if ((m_qos.data_sharing.send_always() || m_qos.data_sharing.hasChanged) &&
             m_qos.data_sharing.kind() != fastdds::dds::OFF)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::add_to_cdr_message(m_qos.data_sharing, msg))
+        if (!dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::add_to_cdr_message(m_qos.data_sharing, msg))
         {
             return false;
         }
     }
     if (m_qos.m_groupData.send_always() ||  m_qos.m_groupData.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::add_to_cdr_message(m_qos.m_groupData, msg))
+        if (!dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::add_to_cdr_message(m_qos.m_groupData, msg))
         {
             return false;
         }
     }
     if (m_type_information && m_type_information->assigned())
     {
-        if (!fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::add_to_cdr_message(*
-                m_type_information, msg))
+        if (!dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::add_to_cdr_message(
+                    *m_type_information, msg))
         {
             return false;
         }
     }
     if (m_properties.size() > 0)
     {
-        if (!fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::add_to_cdr_message(m_properties, msg))
+        if (!dds::ParameterSerializer<ParameterPropertyList_t>::add_to_cdr_message(m_properties, msg))
         {
             return false;
         }
@@ -593,7 +591,7 @@ bool WriterProxyData::writeToCDRMessage(
         ParameterEndpointSecurityInfo_t p;
         p.security_attributes = security_attributes_;
         p.plugin_security_attributes = plugin_security_attributes_;
-        if (!fastdds::dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::add_to_cdr_message(p, msg))
+        if (!dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::add_to_cdr_message(p, msg))
         {
             return false;
         }
@@ -602,8 +600,8 @@ bool WriterProxyData::writeToCDRMessage(
 
     if (m_qos.representation.send_always() || m_qos.representation.hasChanged)
     {
-        if (!fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::add_to_cdr_message(m_qos.representation,
-                msg))
+        if (!dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::add_to_cdr_message(
+                    m_qos.representation, msg))
         {
             return false;
         }
@@ -611,7 +609,7 @@ bool WriterProxyData::writeToCDRMessage(
 
 
 
-    return fastdds::dds::ParameterSerializer<Parameter_t>::add_parameter_sentinel(msg);
+    return dds::ParameterSerializer<Parameter_t>::add_parameter_sentinel(msg);
 }
 
 bool WriterProxyData::readFromCDRMessage(
@@ -631,8 +629,8 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_VENDORID:
                     {
                         ParameterVendorId_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterVendorId_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterVendorId_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -643,8 +641,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DURABILITY:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DurabilityQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_durability, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DurabilityQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_durability, msg, plength))
                         {
                             return false;
                         }
@@ -652,7 +650,7 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DURABILITY_SERVICE:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DurabilityServiceQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DurabilityServiceQosPolicy>::read_from_cdr_message(
                                     m_qos.m_durabilityService, msg, plength))
                         {
                             return false;
@@ -661,8 +659,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DEADLINE:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DeadlineQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_deadline, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DeadlineQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_deadline, msg, plength))
                         {
                             return false;
                         }
@@ -670,8 +668,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LATENCY_BUDGET:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LatencyBudgetQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_latencyBudget, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LatencyBudgetQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_latencyBudget, msg, plength))
                         {
                             return false;
                         }
@@ -679,8 +677,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LIVELINESS:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LivelinessQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_liveliness, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LivelinessQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_liveliness, msg, plength))
                         {
                             return false;
                         }
@@ -688,8 +686,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_RELIABILITY:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<ReliabilityQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_reliability, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::ReliabilityQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_reliability, msg, plength))
                         {
                             return false;
                         }
@@ -697,8 +695,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_LIFESPAN:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<LifespanQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_lifespan, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::LifespanQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_lifespan, msg, plength))
                         {
                             return false;
                         }
@@ -706,8 +704,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_USER_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<UserDataQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_userData, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::UserDataQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_userData, msg, plength))
                         {
                             return false;
                         }
@@ -715,8 +713,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TIME_BASED_FILTER:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<TimeBasedFilterQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_timeBasedFilter, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::TimeBasedFilterQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_timeBasedFilter, msg, plength))
                         {
                             return false;
                         }
@@ -724,8 +722,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_OWNERSHIP:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<OwnershipQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_ownership, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::OwnershipQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_ownership, msg, plength))
                         {
                             return false;
                         }
@@ -733,7 +731,7 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_OWNERSHIP_STRENGTH:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<OwnershipStrengthQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::OwnershipStrengthQosPolicy>::read_from_cdr_message(
                                     m_qos.m_ownershipStrength, msg, plength))
                         {
                             return false;
@@ -742,8 +740,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_DESTINATION_ORDER:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DestinationOrderQosPolicy>::read_from_cdr_message(m_qos
-                                        .m_destinationOrder, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DestinationOrderQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_destinationOrder, msg, plength))
                         {
                             return false;
                         }
@@ -751,8 +749,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_PRESENTATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<PresentationQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_presentation, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::PresentationQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_presentation, msg, plength))
                         {
                             return false;
                         }
@@ -760,8 +758,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_PARTITION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<PartitionQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_partition, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::PartitionQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_partition, msg, plength))
                         {
                             return false;
                         }
@@ -769,7 +767,7 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TOPIC_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<TopicDataQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::TopicDataQosPolicy>::read_from_cdr_message(
                                     m_qos.m_topicData, msg, plength))
                         {
                             return false;
@@ -778,8 +776,8 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_GROUP_DATA:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<GroupDataQosPolicy>::read_from_cdr_message(m_qos.
-                                        m_groupData, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::GroupDataQosPolicy>::read_from_cdr_message(
+                                    m_qos.m_groupData, msg, plength))
                         {
                             return false;
                         }
@@ -788,8 +786,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_TOPIC_NAME:
                     {
                         ParameterString_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -800,8 +797,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_TYPE_NAME:
                     {
                         ParameterString_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterString_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -812,7 +808,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_PARTICIPANT_GUID:
                     {
                         ParameterGuid_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
+                        if (!dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -823,7 +819,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_ENDPOINT_GUID:
                     {
                         ParameterGuid_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
+                        if (!dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -850,7 +846,7 @@ bool WriterProxyData::readFromCDRMessage(
                         }
 
                         ParameterGuid_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
+                        if (!dds::ParameterSerializer<ParameterGuid_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -875,8 +871,8 @@ bool WriterProxyData::readFromCDRMessage(
                         }
 
                         ParameterNetworkConfigSet_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterNetworkConfigSet_t>::read_from_cdr_message(p,
-                                msg, plength))
+                        if (!dds::ParameterSerializer<ParameterNetworkConfigSet_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -887,8 +883,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_UNICAST_LOCATOR:
                     {
                         ParameterLocator_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -915,8 +910,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_MULTICAST_LOCATOR:
                     {
                         ParameterLocator_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg,
-                                plength))
+                        if (!dds::ParameterSerializer<ParameterLocator_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -943,7 +937,7 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_KEY_HASH:
                     {
                         ParameterKey_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterKey_t>::read_from_cdr_message(p, msg, plength))
+                        if (!dds::ParameterSerializer<ParameterKey_t>::read_from_cdr_message(p, msg, plength))
                         {
                             return false;
                         }
@@ -966,7 +960,7 @@ bool WriterProxyData::readFromCDRMessage(
                     }
                     case fastdds::dds::PID_TYPE_INFORMATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<xtypes::TypeInformationParameter>::
+                        if (!dds::QosPoliciesSerializer<dds::xtypes::TypeInformationParameter>::
                                 read_from_cdr_message(type_information(), msg, plength))
                         {
                             return false;
@@ -990,8 +984,8 @@ bool WriterProxyData::readFromCDRMessage(
                             return true;
                         }
 
-                        if (!fastdds::dds::QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::read_from_cdr_message(
-                                    m_qos.m_disablePositiveACKs, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DisablePositiveACKsQosPolicy>::
+                                read_from_cdr_message(m_qos.m_disablePositiveACKs, msg, plength))
                         {
                             return false;
                         }
@@ -1001,8 +995,8 @@ bool WriterProxyData::readFromCDRMessage(
                     case fastdds::dds::PID_ENDPOINT_SECURITY_INFO:
                     {
                         ParameterEndpointSecurityInfo_t p(pid, plength);
-                        if (!fastdds::dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::read_from_cdr_message(p,
-                                msg, plength))
+                        if (!dds::ParameterSerializer<ParameterEndpointSecurityInfo_t>::read_from_cdr_message(
+                                    p, msg, plength))
                         {
                             return false;
                         }
@@ -1014,8 +1008,8 @@ bool WriterProxyData::readFromCDRMessage(
 #endif // if HAVE_SECURITY
                     case fastdds::dds::PID_DATA_REPRESENTATION:
                     {
-                        if (!fastdds::dds::QosPoliciesSerializer<DataRepresentationQosPolicy>::read_from_cdr_message(
-                                    m_qos.representation, msg, plength))
+                        if (!dds::QosPoliciesSerializer<dds::DataRepresentationQosPolicy>::
+                                read_from_cdr_message(m_qos.representation, msg, plength))
                         {
                             return false;
                         }
@@ -1030,7 +1024,7 @@ bool WriterProxyData::readFromCDRMessage(
 
                     case fastdds::dds::PID_PROPERTY_LIST:
                     {
-                        if (!fastdds::dds::ParameterSerializer<ParameterPropertyList_t>::read_from_cdr_message(
+                        if (!dds::ParameterSerializer<ParameterPropertyList_t>::read_from_cdr_message(
                                     m_properties, msg, plength))
                         {
                             return false;
@@ -1054,7 +1048,7 @@ bool WriterProxyData::readFromCDRMessage(
                             return true;
                         }
 
-                        if (!fastdds::dds::QosPoliciesSerializer<DataSharingQosPolicy>::read_from_cdr_message(
+                        if (!dds::QosPoliciesSerializer<dds::DataSharingQosPolicy>::read_from_cdr_message(
                                     m_qos.data_sharing, msg, plength))
                         {
                             EPROSIMA_LOG_ERROR(RTPS_WRITER_PROXY_DATA,
@@ -1135,15 +1129,15 @@ void WriterProxyData::clear()
 
     if (m_type_id)
     {
-        *m_type_id = TypeIdV1();
+        *m_type_id = dds::TypeIdV1();
     }
     if (m_type)
     {
-        *m_type = TypeObjectV1();
+        *m_type = dds::TypeObjectV1();
     }
     if (m_type_information)
     {
-        *m_type_information = xtypes::TypeInformationParameter();
+        *m_type_information = dds::xtypes::TypeInformationParameter();
     }
 }
 
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp
index d0043de4023..f12e266d326 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDP.cpp
@@ -546,8 +546,8 @@ bool EDP::valid_matching(
         return false;
     }
 
-    if ( wdata->m_qos.m_reliability.kind == BEST_EFFORT_RELIABILITY_QOS
-            && rdata->m_qos.m_reliability.kind == RELIABLE_RELIABILITY_QOS)
+    if ( wdata->m_qos.m_reliability.kind == dds::BEST_EFFORT_RELIABILITY_QOS
+            && rdata->m_qos.m_reliability.kind == dds::RELIABLE_RELIABILITY_QOS)
     //Means our writer is BE but the reader wants RE
     {
         EPROSIMA_LOG_WARNING(RTPS_EDP, "INCOMPATIBLE QOS (topic: " << rdata->topicName() << "):Remote Reader "
@@ -702,7 +702,7 @@ bool EDP::checkDataRepresentationQos(
     }
     else
     {
-        DataRepresentationId writerRepresentation {wdata->m_qos.representation.m_value.at(0)};
+        dds::DataRepresentationId writerRepresentation {wdata->m_qos.representation.m_value.at(0)};
 
         if (writerRepresentation == fastdds::dds::XCDR2_DATA_REPRESENTATION)
         {
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
index 526a323394a..c33742343c9 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
@@ -767,8 +767,8 @@ void EDPSimple::assignRemoteEndpoints(
     temp_reader_proxy_data->m_expectsInlineQos = false;
     temp_reader_proxy_data->guid().guidPrefix = pdata.m_guid.guidPrefix;
     temp_reader_proxy_data->set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
-    temp_reader_proxy_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    temp_reader_proxy_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_reader_proxy_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    temp_reader_proxy_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 
     auto temp_writer_proxy_data = get_temporary_writer_proxies_pool().get();
 
@@ -776,8 +776,8 @@ void EDPSimple::assignRemoteEndpoints(
     temp_writer_proxy_data->guid().guidPrefix = pdata.m_guid.guidPrefix;
     temp_writer_proxy_data->persistence_guid(pdata.get_persistence_guid());
     temp_writer_proxy_data->set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
-    temp_writer_proxy_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    temp_writer_proxy_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_writer_proxy_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    temp_writer_proxy_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 
     auxendp = endp;
     auxendp &= fastdds::rtps::DISC_BUILTIN_ENDPOINT_PUBLICATION_ANNOUNCER;
diff --git a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.h b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.h
index ae0afef927b..4a2250c7515 100644
--- a/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.h
+++ b/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.h
@@ -41,6 +41,7 @@ class ReaderAttributes;
 class WriterAttributes;
 class EDPListener;
 class ITopicPayloadPool;
+struct CacheChange_t;
 
 /**
  * Class EDPSimple, implements the Simple Endpoint Discovery Protocol defined in the RTPS specification.
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.h b/src/cpp/rtps/builtin/discovery/participant/PDP.h
index 264e4ee2e23..5ad4488e91d 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.h
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.h
@@ -31,6 +31,7 @@
 #include <fastdds/rtps/builtin/data/ReaderProxyData.h>
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/common/Guid.h>
+#include <fastdds/rtps/common/WriteParams.h>
 #include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
 #include <fastdds/rtps/reader/ReaderDiscoveryInfo.h>
 #include <fastdds/rtps/writer/WriterDiscoveryInfo.h>
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
index e96ca92677a..d786b645430 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
@@ -636,8 +636,8 @@ void PDPClient::removeRemoteEndpoints(
                 temp_writer_data->persistence_guid(pdata->get_persistence_guid());
                 temp_writer_data->set_persistence_entity_id(c_EntityId_SPDPWriter);
                 temp_writer_data->set_remote_locators(pdata->metatraffic_locators, network, true);
-                temp_writer_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
-                temp_writer_data->m_qos.m_durability.kind = TRANSIENT_DURABILITY_QOS;
+                temp_writer_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
+                temp_writer_data->m_qos.m_durability.kind = dds::TRANSIENT_DURABILITY_QOS;
                 endpoints->reader.reader_->matched_writer_add(*temp_writer_data);
             }
         }
@@ -662,8 +662,8 @@ void PDPClient::removeRemoteEndpoints(
                 temp_reader_data->m_expectsInlineQos = false;
                 temp_reader_data->guid(rguid);
                 temp_reader_data->set_remote_locators(pdata->metatraffic_locators, network, true);
-                temp_reader_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
-                temp_reader_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+                temp_reader_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
+                temp_reader_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
                 endpoints->writer.writer_->matched_reader_add(*temp_reader_data);
             }
         }
@@ -888,8 +888,8 @@ void PDPClient::match_pdp_writer_nts_(
     temp_writer_data->guid({ prefix_override, endpoints->writer.writer_->getGuid().entityId });
     temp_writer_data->set_multicast_locators(server_att.metatrafficMulticastLocatorList, network);
     temp_writer_data->set_remote_unicast_locators(server_att.metatrafficUnicastLocatorList, network);
-    temp_writer_data->m_qos.m_durability.kind = TRANSIENT_DURABILITY_QOS;
-    temp_writer_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_writer_data->m_qos.m_durability.kind = dds::TRANSIENT_DURABILITY_QOS;
+    temp_writer_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 #if HAVE_SECURITY
     if (should_protect_discovery())
     {
@@ -922,8 +922,8 @@ void PDPClient::match_pdp_reader_nts_(
     temp_reader_data->guid({ prefix_override, endpoints->reader.reader_->getGuid().entityId });
     temp_reader_data->set_multicast_locators(server_att.metatrafficMulticastLocatorList, network);
     temp_reader_data->set_remote_unicast_locators(server_att.metatrafficUnicastLocatorList, network);
-    temp_reader_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    temp_reader_data->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_reader_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    temp_reader_data->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 #if HAVE_SECURITY
     if (should_protect_discovery())
     {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index d479d6dd82b..1026ddb354f 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -632,7 +632,7 @@ void PDPSimple::match_pdp_remote_endpoints(
     const uint32_t endp = pdata.m_availableBuiltinEndpoints;
 
     // Default to values for non-secure endpoints
-    auto reliability_kind = BEST_EFFORT_RELIABILITY_QOS;
+    auto reliability_kind = dds::BEST_EFFORT_RELIABILITY_QOS;
     uint32_t pdp_reader_mask = fastdds::rtps::DISC_BUILTIN_ENDPOINT_PARTICIPANT_DETECTOR;
     uint32_t pdp_writer_mask = fastdds::rtps::DISC_BUILTIN_ENDPOINT_PARTICIPANT_ANNOUNCER;
     EntityId_t reader_entity_id = c_EntityId_SPDPReader;
@@ -645,7 +645,7 @@ void PDPSimple::match_pdp_remote_endpoints(
     if (notify_secure_endpoints)
     {
         auto secure_endpoints = static_cast<fastdds::rtps::SimplePDPEndpointsSecure*>(builtin_endpoints_.get());
-        reliability_kind = RELIABLE_RELIABILITY_QOS;
+        reliability_kind = dds::RELIABLE_RELIABILITY_QOS;
         pdp_reader_mask = fastdds::rtps::DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_DETECTOR;
         pdp_writer_mask = fastdds::rtps::DISC_BUILTIN_ENDPOINT_PARTICIPANT_SECURE_ANNOUNCER;
         reader_entity_id = c_EntityId_spdp_reliable_participant_secure_reader;
@@ -666,7 +666,7 @@ void PDPSimple::match_pdp_remote_endpoints(
         temp_writer_data->set_persistence_entity_id(writer_entity_id);
         temp_writer_data->set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
         temp_writer_data->m_qos.m_reliability.kind = reliability_kind;
-        temp_writer_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+        temp_writer_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
 #if HAVE_SECURITY
         if (notify_secure_endpoints)
         {
@@ -695,7 +695,7 @@ void PDPSimple::match_pdp_remote_endpoints(
         temp_reader_data->guid().entityId = reader_entity_id;
         temp_reader_data->set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
         temp_reader_data->m_qos.m_reliability.kind = reliability_kind;
-        temp_reader_data->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+        temp_reader_data->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
 #if HAVE_SECURITY
         if (notify_secure_endpoints)
         {
@@ -713,7 +713,7 @@ void PDPSimple::match_pdp_remote_endpoints(
             writer->matched_reader_add(*temp_reader_data);
         }
 
-        if (BEST_EFFORT_RELIABILITY_QOS == reliability_kind)
+        if (dds::BEST_EFFORT_RELIABILITY_QOS == reliability_kind)
         {
             endpoints->writer.writer_->unsent_changes_reset();
         }
diff --git a/src/cpp/rtps/builtin/liveliness/WLP.cpp b/src/cpp/rtps/builtin/liveliness/WLP.cpp
index c793ddb2567..980a88678af 100644
--- a/src/cpp/rtps/builtin/liveliness/WLP.cpp
+++ b/src/cpp/rtps/builtin/liveliness/WLP.cpp
@@ -121,8 +121,8 @@ WLP::WLP(
     automatic_instance_handle_ = tmp_guid;
     manual_by_participant_instance_handle_ = automatic_instance_handle_;
 
-    automatic_instance_handle_.value[15] = AUTOMATIC_LIVELINESS_QOS + 0x01;
-    manual_by_participant_instance_handle_.value[15] = MANUAL_BY_PARTICIPANT_LIVELINESS_QOS + 0x01;
+    automatic_instance_handle_.value[15] = dds::AUTOMATIC_LIVELINESS_QOS + 0x01;
+    manual_by_participant_instance_handle_.value[15] = dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS + 0x01;
 }
 
 WLP::~WLP()
@@ -192,7 +192,7 @@ bool WLP::initWL(
 
     pub_liveliness_manager_ = new LivelinessManager(
         [&](const GUID_t& guid,
-        const LivelinessQosPolicyKind& kind,
+        const dds::LivelinessQosPolicyKind& kind,
         const Duration_t& lease_duration,
         int alive_count,
         int not_alive_count) -> void
@@ -209,7 +209,7 @@ bool WLP::initWL(
 
     sub_liveliness_manager_ = new LivelinessManager(
         [&](const GUID_t& guid,
-        const LivelinessQosPolicyKind& kind,
+        const dds::LivelinessQosPolicyKind& kind,
         const Duration_t& lease_duration,
         int alive_count,
         int not_alive_count) -> void
@@ -496,16 +496,16 @@ bool WLP::assignRemoteEndpoints(
     temp_writer_proxy_data_.persistence_guid(pdata.get_persistence_guid());
     temp_writer_proxy_data_.set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
     temp_writer_proxy_data_.topicKind(WITH_KEY);
-    temp_writer_proxy_data_.m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    temp_writer_proxy_data_.m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_writer_proxy_data_.m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    temp_writer_proxy_data_.m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 
     temp_reader_proxy_data_.clear();
     temp_reader_proxy_data_.m_expectsInlineQos = false;
     temp_reader_proxy_data_.guid().guidPrefix = pdata.m_guid.guidPrefix;
     temp_reader_proxy_data_.set_remote_locators(pdata.metatraffic_locators, network, use_multicast_locators);
     temp_reader_proxy_data_.topicKind(WITH_KEY);
-    temp_reader_proxy_data_.m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    temp_reader_proxy_data_.m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    temp_reader_proxy_data_.m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+    temp_reader_proxy_data_.m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
 
     auxendp &= fastdds::rtps::BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_DATA_WRITER;
     if (auxendp != 0 && this->mp_builtinReader != nullptr)
@@ -628,7 +628,7 @@ bool WLP::add_local_writer(
     double wAnnouncementPeriodMilliSec(fastdds::rtps::TimeConv::Duration_t2MilliSecondsDouble(wqos.m_liveliness.
                     announcement_period));
 
-    if (wqos.m_liveliness.kind == AUTOMATIC_LIVELINESS_QOS )
+    if (wqos.m_liveliness.kind == dds::AUTOMATIC_LIVELINESS_QOS )
     {
         if (automatic_liveliness_assertion_ == nullptr)
         {
@@ -655,7 +655,7 @@ bool WLP::add_local_writer(
         }
         automatic_writers_.push_back(W);
     }
-    else if (wqos.m_liveliness.kind == MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    else if (wqos.m_liveliness.kind == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
         if (manual_liveliness_assertion_ == nullptr)
         {
@@ -690,7 +690,7 @@ bool WLP::add_local_writer(
             EPROSIMA_LOG_ERROR(RTPS_LIVELINESS, "Could not add writer " << W->getGuid() << " to liveliness manager");
         }
     }
-    else if (wqos.m_liveliness.kind == MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    else if (wqos.m_liveliness.kind == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
     {
         manual_by_topic_writers_.push_back(W);
 
@@ -717,7 +717,7 @@ bool WLP::remove_local_writer(
 
     LivelinessData::WriterStatus writer_status;
 
-    if (W->get_liveliness_kind() == AUTOMATIC_LIVELINESS_QOS)
+    if (W->get_liveliness_kind() == dds::AUTOMATIC_LIVELINESS_QOS)
     {
         auto it = std::find(
             automatic_writers_.begin(),
@@ -752,7 +752,7 @@ bool WLP::remove_local_writer(
         automatic_liveliness_assertion_->update_interval_millisec(min_automatic_ms_);
         return true;
     }
-    else if (W->get_liveliness_kind() == MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    else if (W->get_liveliness_kind() == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
         auto it = std::find(
             manual_by_participant_writers_.begin(),
@@ -797,7 +797,7 @@ bool WLP::remove_local_writer(
         manual_liveliness_assertion_->update_interval_millisec(min_manual_by_participant_ms_);
         return true;
     }
-    else if (W->get_liveliness_kind() == MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    else if (W->get_liveliness_kind() == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
     {
         auto it = std::find(
             manual_by_topic_writers_.begin(),
@@ -836,7 +836,7 @@ bool WLP::add_local_reader(
 
     std::lock_guard<std::recursive_mutex> guard(*mp_builtinProtocols->mp_PDP->getMutex());
 
-    if (rqos.m_liveliness.kind == AUTOMATIC_LIVELINESS_QOS)
+    if (rqos.m_liveliness.kind == dds::AUTOMATIC_LIVELINESS_QOS)
     {
         automatic_readers_ = true;
     }
@@ -884,7 +884,7 @@ bool WLP::participant_liveliness_assertion()
 
     if (0 < manual_by_participant_writers_.size())
     {
-        if (pub_liveliness_manager_->is_any_alive(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS))
+        if (pub_liveliness_manager_->is_any_alive(dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS))
         {
             lock.unlock();
             return send_liveliness_message(manual_by_participant_instance_handle_);
@@ -973,7 +973,7 @@ WriterHistory* WLP::builtin_writer_history()
 
 bool WLP::assert_liveliness(
         GUID_t writer,
-        LivelinessQosPolicyKind kind,
+        dds::LivelinessQosPolicyKind kind,
         Duration_t lease_duration)
 {
     return pub_liveliness_manager_->assert_liveliness(
@@ -987,7 +987,7 @@ bool WLP::assert_liveliness_manual_by_participant()
     if (manual_by_participant_writers_.size() > 0)
     {
         return pub_liveliness_manager_->assert_liveliness(
-            MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,
+            dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,
             mp_participant->getGuid().guidPrefix);
     }
     return false;
@@ -995,7 +995,7 @@ bool WLP::assert_liveliness_manual_by_participant()
 
 void WLP::pub_liveliness_changed(
         const GUID_t& writer,
-        const LivelinessQosPolicyKind& kind,
+        const dds::LivelinessQosPolicyKind& kind,
         const Duration_t& lease_duration,
         int32_t alive_change,
         int32_t not_alive_change)
@@ -1009,7 +1009,7 @@ void WLP::pub_liveliness_changed(
         return;
     }
 
-    if (kind == AUTOMATIC_LIVELINESS_QOS)
+    if (kind == dds::AUTOMATIC_LIVELINESS_QOS)
     {
         for (RTPSWriter* w: automatic_writers_)
         {
@@ -1029,7 +1029,7 @@ void WLP::pub_liveliness_changed(
             }
         }
     }
-    else if (kind == MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    else if (kind == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
         for (RTPSWriter* w: manual_by_participant_writers_)
         {
@@ -1049,7 +1049,7 @@ void WLP::pub_liveliness_changed(
             }
         }
     }
-    else if (kind == MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    else if (kind == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
     {
         for (RTPSWriter* w: manual_by_topic_writers_)
         {
@@ -1073,7 +1073,7 @@ void WLP::pub_liveliness_changed(
 
 void WLP::sub_liveliness_changed(
         const GUID_t& writer,
-        const LivelinessQosPolicyKind& kind,
+        const dds::LivelinessQosPolicyKind& kind,
         const Duration_t& lease_duration,
         int32_t alive_change,
         int32_t not_alive_change)
diff --git a/src/cpp/rtps/builtin/liveliness/WLP.hpp b/src/cpp/rtps/builtin/liveliness/WLP.hpp
index f533b4f6487..3de497f3c0b 100644
--- a/src/cpp/rtps/builtin/liveliness/WLP.hpp
+++ b/src/cpp/rtps/builtin/liveliness/WLP.hpp
@@ -148,7 +148,7 @@ class WLP
      */
     bool assert_liveliness(
             GUID_t writer,
-            LivelinessQosPolicyKind kind,
+            dds::LivelinessQosPolicyKind kind,
             Duration_t lease_duration);
 
     /**
@@ -239,7 +239,7 @@ class WLP
      */
     void pub_liveliness_changed(
             const GUID_t& writer,
-            const LivelinessQosPolicyKind& kind,
+            const dds::LivelinessQosPolicyKind& kind,
             const Duration_t& lease_duration,
             int32_t alive_change,
             int32_t not_alive_change);
@@ -254,7 +254,7 @@ class WLP
      */
     void sub_liveliness_changed(
             const GUID_t& writer,
-            const LivelinessQosPolicyKind& kind,
+            const dds::LivelinessQosPolicyKind& kind,
             const Duration_t& lease_duration,
             int32_t alive_change,
             int32_t not_alive_change);
diff --git a/src/cpp/rtps/builtin/liveliness/WLPListener.cpp b/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
index 8d25a5a3477..cca36fcfc93 100644
--- a/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
+++ b/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
@@ -61,7 +61,7 @@ void WLPListener::on_new_cache_change_added(
     std::lock_guard<std::recursive_mutex> guard2(*mp_WLP->mp_builtinProtocols->mp_PDP->getMutex());
 
     GuidPrefix_t guidP;
-    LivelinessQosPolicyKind livelinessKind = AUTOMATIC_LIVELINESS_QOS;
+    dds::LivelinessQosPolicyKind livelinessKind = dds::AUTOMATIC_LIVELINESS_QOS;
     CacheChange_t* change = (CacheChange_t*)changeIN;
     if (!computeKey(change))
     {
@@ -146,11 +146,11 @@ void WLPListener::on_new_cache_change_added(
     history->getMutex()->unlock();
     if (mp_WLP->automatic_readers_)
     {
-        mp_WLP->sub_liveliness_manager_->assert_liveliness(AUTOMATIC_LIVELINESS_QOS, guidP);
+        mp_WLP->sub_liveliness_manager_->assert_liveliness(dds::AUTOMATIC_LIVELINESS_QOS, guidP);
     }
-    if (livelinessKind == MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    if (livelinessKind == dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
     {
-        mp_WLP->sub_liveliness_manager_->assert_liveliness(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, guidP);
+        mp_WLP->sub_liveliness_manager_->assert_liveliness(dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS, guidP);
     }
     mp_WLP->mp_builtinProtocols->mp_PDP->getMutex()->unlock();
     history->getMutex()->lock();
@@ -161,7 +161,7 @@ void WLPListener::on_new_cache_change_added(
 bool WLPListener::separateKey(
         InstanceHandle_t& key,
         GuidPrefix_t* guidP,
-        LivelinessQosPolicyKind* liveliness)
+        dds::LivelinessQosPolicyKind* liveliness)
 {
     bool ret = get_wlp_kind(&key.value[12], *liveliness);
     if (ret)
@@ -190,7 +190,7 @@ bool WLPListener::computeKey(
 
 bool WLPListener::get_wlp_kind(
         const octet* serialized_kind,
-        LivelinessQosPolicyKind& liveliness_kind)
+        dds::LivelinessQosPolicyKind& liveliness_kind)
 {
     /*
      * From RTPS 2.5 9.6.3.1, the ParticipantMessageData kinds for WLP are:
@@ -206,7 +206,7 @@ bool WLPListener::get_wlp_kind(
     if (is_wlp)
     {
         // Adjust and cast to LivelinessQosPolicyKind enum, where AUTOMATIC_LIVELINESS_QOS == 0
-        liveliness_kind = static_cast<LivelinessQosPolicyKind>(serialized_kind[3] - 0x01);
+        liveliness_kind = static_cast<dds::LivelinessQosPolicyKind>(serialized_kind[3] - 0x01);
     }
 
     return is_wlp;
diff --git a/src/cpp/rtps/builtin/liveliness/WLPListener.h b/src/cpp/rtps/builtin/liveliness/WLPListener.h
index b23eaac878a..80a67653c27 100644
--- a/src/cpp/rtps/builtin/liveliness/WLPListener.h
+++ b/src/cpp/rtps/builtin/liveliness/WLPListener.h
@@ -76,7 +76,7 @@ class WLPListener : public ReaderListener
     bool separateKey(
             InstanceHandle_t& key,
             GuidPrefix_t* guidP,
-            LivelinessQosPolicyKind* liveliness);
+            dds::LivelinessQosPolicyKind* liveliness);
 
     /**
      * Compute the key from a CacheChange_t
@@ -96,7 +96,7 @@ class WLPListener : public ReaderListener
      */
     bool get_wlp_kind(
             const octet* serialized_kind,
-            LivelinessQosPolicyKind& liveliness_kind);
+            dds::LivelinessQosPolicyKind& liveliness_kind);
 
     //! A pointer to the writer liveliness protocol
     WLP* mp_WLP;
diff --git a/src/cpp/rtps/reader/StatefulReader.cpp b/src/cpp/rtps/reader/StatefulReader.cpp
index 25eda711134..7556f06475c 100644
--- a/src/cpp/rtps/reader/StatefulReader.cpp
+++ b/src/cpp/rtps/reader/StatefulReader.cpp
@@ -219,7 +219,7 @@ bool StatefulReader::matched_writer_add(
             {
                 EPROSIMA_LOG_INFO(RTPS_READER, "Attempting to add existing writer, updating information");
                 // If Ownership strength changes then update all history instances.
-                if (EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind &&
+                if (dds::EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind &&
                         it->ownership_strength() != wdata.m_qos.m_ownershipStrength.value)
                 {
                     history_->writer_update_its_ownership_strength_nts(
@@ -882,8 +882,8 @@ bool StatefulReader::process_heartbeat_msg(
             {
                 if (liveliness_lease_duration_ < c_TimeInfinite)
                 {
-                    if (liveliness_kind_ == MANUAL_BY_TOPIC_LIVELINESS_QOS ||
-                            writer->liveliness_kind() == MANUAL_BY_TOPIC_LIVELINESS_QOS)
+                    if (liveliness_kind_ == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS ||
+                            writer->liveliness_kind() == dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
                     {
                         auto wlp = this->mp_RTPSParticipant->wlp();
                         if ( wlp != nullptr)
@@ -1142,7 +1142,7 @@ bool StatefulReader::change_received(
     }
 
     // Update Ownership strength.
-    if (EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind)
+    if (dds::EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind)
     {
         a_change->reader_info.writer_ownership_strength = prox->ownership_strength();
     }
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index ebcda902449..86c07c2ff65 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -111,7 +111,7 @@ bool StatelessReader::matched_writer_add(
             {
                 EPROSIMA_LOG_INFO(RTPS_READER, "Attempting to add existing writer, updating information");
 
-                if (EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind &&
+                if (dds::EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind &&
                         writer.ownership_strength != wdata.m_qos.m_ownershipStrength.value)
                 {
                     history_->writer_update_its_ownership_strength_nts(
@@ -146,7 +146,7 @@ bool StatelessReader::matched_writer_add(
         RemoteWriterInfo_t info;
         info.guid = wdata.guid();
         info.persistence_guid = wdata.persistence_guid();
-        info.has_manual_topic_liveliness = (MANUAL_BY_TOPIC_LIVELINESS_QOS == wdata.m_qos.m_liveliness.kind);
+        info.has_manual_topic_liveliness = (dds::MANUAL_BY_TOPIC_LIVELINESS_QOS == wdata.m_qos.m_liveliness.kind);
         info.is_datasharing = is_datasharing;
         info.ownership_strength = wdata.m_qos.m_ownershipStrength.value;
 
@@ -329,7 +329,7 @@ bool StatelessReader::change_received(
         bool update_notified = true;
 
         decltype(matched_writers_)::iterator writer = matched_writers_.end();
-        if ((EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind) ||
+        if ((dds::EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind) ||
                 (trusted_writer_entity_id_ == change->writerGUID.entityId))
         {
             writer = std::find_if(matched_writers_.begin(), matched_writers_.end(),
@@ -342,7 +342,7 @@ bool StatelessReader::change_received(
         }
 
         // Update Ownership strength.
-        if (EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind)
+        if (dds::EXCLUSIVE_OWNERSHIP_QOS == m_att.ownershipKind)
         {
             assert(matched_writers_.end() != writer);
             change->reader_info.writer_ownership_strength = writer->ownership_strength;
diff --git a/src/cpp/rtps/reader/WriterProxy.cpp b/src/cpp/rtps/reader/WriterProxy.cpp
index 4e48ba87fbc..e705ee791af 100644
--- a/src/cpp/rtps/reader/WriterProxy.cpp
+++ b/src/cpp/rtps/reader/WriterProxy.cpp
@@ -84,7 +84,7 @@ WriterProxy::WriterProxy(
     , guid_prefix_as_vector_(ResourceLimitedContainerConfig::fixed_size_configuration(1u))
     , is_on_same_process_(false)
     , ownership_strength_(0)
-    , liveliness_kind_(AUTOMATIC_LIVELINESS_QOS)
+    , liveliness_kind_(dds::AUTOMATIC_LIVELINESS_QOS)
     , locators_entry_(loc_alloc.max_unicast_locators, loc_alloc.max_multicast_locators)
     , is_datasharing_writer_(false)
     , received_at_least_one_heartbeat_(false)
diff --git a/src/cpp/rtps/reader/WriterProxy.h b/src/cpp/rtps/reader/WriterProxy.h
index 6f447268764..3e00ea5a6aa 100644
--- a/src/cpp/rtps/reader/WriterProxy.h
+++ b/src/cpp/rtps/reader/WriterProxy.h
@@ -177,7 +177,7 @@ class WriterProxy : public RTPSMessageSenderInterface
         return persistence_guid_;
     }
 
-    inline LivelinessQosPolicyKind liveliness_kind() const
+    inline dds::LivelinessQosPolicyKind liveliness_kind() const
     {
         return liveliness_kind_;
     }
@@ -409,7 +409,7 @@ class WriterProxy : public RTPSMessageSenderInterface
     //! Taken from QoS
     uint32_t ownership_strength_;
     //! Taken from QoS
-    LivelinessQosPolicyKind liveliness_kind_;
+    dds::LivelinessQosPolicyKind liveliness_kind_;
     //! Taken from proxy data
     GUID_t persistence_guid_;
     //! Taken from proxy data
diff --git a/src/cpp/rtps/writer/PersistentWriter.cpp b/src/cpp/rtps/writer/PersistentWriter.cpp
index beacbcfa9db..c6e1e00128f 100644
--- a/src/cpp/rtps/writer/PersistentWriter.cpp
+++ b/src/cpp/rtps/writer/PersistentWriter.cpp
@@ -54,7 +54,7 @@ PersistentWriter::PersistentWriter(
             static_cast<int32_t>(hist->m_changes.size()) == hist->m_att.maximumReservedCaches;
 
     // Prepare the changes for datasharing if compatible
-    if (att.endpoint.data_sharing_configuration().kind() != OFF)
+    if (att.endpoint.data_sharing_configuration().kind() != dds::OFF)
     {
         auto pool = std::dynamic_pointer_cast<WriterPool>(payload_pool);
         assert(pool != nullptr);
diff --git a/src/cpp/rtps/writer/RTPSWriter.cpp b/src/cpp/rtps/writer/RTPSWriter.cpp
index c967fc839bf..41078decb4a 100644
--- a/src/cpp/rtps/writer/RTPSWriter.cpp
+++ b/src/cpp/rtps/writer/RTPSWriter.cpp
@@ -129,7 +129,7 @@ void RTPSWriter::init(
         fixed_payload_size_ = mp_history->m_att.payloadMaxSize;
     }
 
-    if (att.endpoint.data_sharing_configuration().kind() != OFF)
+    if (att.endpoint.data_sharing_configuration().kind() != dds::OFF)
     {
         std::shared_ptr<WriterPool> pool = std::dynamic_pointer_cast<WriterPool>(payload_pool);
         if (!pool || !pool->init_shared_memory(this, att.endpoint.data_sharing_configuration().shm_directory()))
@@ -396,7 +396,7 @@ void RTPSWriter::update_cached_info_nts(
     mp_RTPSParticipant->network_factory().select_locators(locator_selector.locator_selector);
 }
 
-const LivelinessQosPolicyKind& RTPSWriter::get_liveliness_kind() const
+const dds::LivelinessQosPolicyKind& RTPSWriter::get_liveliness_kind() const
 {
     return liveliness_kind_;
 }
@@ -413,7 +413,7 @@ const Duration_t& RTPSWriter::get_liveliness_announcement_period() const
 
 bool RTPSWriter::is_datasharing_compatible() const
 {
-    return (m_att.data_sharing_configuration().kind() != OFF);
+    return (m_att.data_sharing_configuration().kind() != dds::OFF);
 }
 
 bool RTPSWriter::is_datasharing_compatible_with(
diff --git a/src/cpp/rtps/writer/ReaderProxy.cpp b/src/cpp/rtps/writer/ReaderProxy.cpp
index 5787bc91a2b..16a28f99266 100644
--- a/src/cpp/rtps/writer/ReaderProxy.cpp
+++ b/src/cpp/rtps/writer/ReaderProxy.cpp
@@ -125,7 +125,7 @@ void ReaderProxy::start(
     is_active_ = true;
     durability_kind_ = reader_attributes.m_qos.m_durability.durabilityKind();
     expects_inline_qos_ = reader_attributes.m_expectsInlineQos;
-    is_reliable_ = reader_attributes.m_qos.m_reliability.kind != BEST_EFFORT_RELIABILITY_QOS;
+    is_reliable_ = reader_attributes.m_qos.m_reliability.kind != dds::BEST_EFFORT_RELIABILITY_QOS;
     disable_positive_acks_ = reader_attributes.disable_positive_acks();
     if (durability_kind_ == DurabilityKind_t::VOLATILE)
     {
@@ -152,7 +152,7 @@ bool ReaderProxy::update(
 {
     durability_kind_ = reader_attributes.m_qos.m_durability.durabilityKind();
     expects_inline_qos_ = reader_attributes.m_expectsInlineQos;
-    is_reliable_ = reader_attributes.m_qos.m_reliability.kind != BEST_EFFORT_RELIABILITY_QOS;
+    is_reliable_ = reader_attributes.m_qos.m_reliability.kind != dds::BEST_EFFORT_RELIABILITY_QOS;
     disable_positive_acks_ = reader_attributes.disable_positive_acks();
 
     locator_info_.update(
diff --git a/src/cpp/statistics/rtps/monitor-service/MonitorService.cpp b/src/cpp/statistics/rtps/monitor-service/MonitorService.cpp
index aec20a9df25..b6289a14489 100644
--- a/src/cpp/statistics/rtps/monitor-service/MonitorService.cpp
+++ b/src/cpp/statistics/rtps/monitor-service/MonitorService.cpp
@@ -437,7 +437,7 @@ bool MonitorService::create_endpoint()
     hatt.maximumReservedCaches = 0;
 
     TopicAttributes tatt;
-    tatt.historyQos.kind = KEEP_LAST_HISTORY_QOS;
+    tatt.historyQos.kind = dds::KEEP_LAST_HISTORY_QOS;
     tatt.historyQos.depth = 1;
     tatt.topicKind = WITH_KEY;
     tatt.topicName = MONITOR_SERVICE_TOPIC;
@@ -472,7 +472,7 @@ bool MonitorService::create_endpoint()
         //! Register the writer in the participant
         fastdds::dds::WriterQos wqos;
 
-        wqos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+        wqos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
         wqos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
 
         TopicAttributes tatts;
diff --git a/src/cpp/xmlparser/XMLElementParser.cpp b/src/cpp/xmlparser/XMLElementParser.cpp
index 969206d8345..65230fef58c 100644
--- a/src/cpp/xmlparser/XMLElementParser.cpp
+++ b/src/cpp/xmlparser/XMLElementParser.cpp
@@ -1134,7 +1134,7 @@ XMLP_ret XMLParser::getXMLTopicAttributes(
 
 XMLP_ret XMLParser::getXMLResourceLimitsQos(
         tinyxml2::XMLElement* elem,
-        ResourceLimitsQosPolicy& resourceLimitsQos,
+        dds::ResourceLimitsQosPolicy& resourceLimitsQos,
         uint8_t ident)
 {
     /*
@@ -1282,7 +1282,7 @@ XMLP_ret XMLParser::getXMLContainerAllocationConfig(
 
 XMLP_ret XMLParser::getXMLHistoryQosPolicy(
         tinyxml2::XMLElement* elem,
-        HistoryQosPolicy& historyQos,
+        dds::HistoryQosPolicy& historyQos,
         uint8_t ident)
 {
     /*
@@ -1318,8 +1318,8 @@ XMLP_ret XMLParser::getXMLHistoryQosPolicy(
             }
 
             if (!get_element_enum_value(text.c_str(), historyQos.kind,
-                    KEEP_LAST, HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS,
-                    KEEP_ALL, HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS))
+                    KEEP_LAST, dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS,
+                    KEEP_ALL, dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -1687,7 +1687,7 @@ XMLP_ret XMLParser::getXMLReaderQosPolicies(
 
 XMLP_ret XMLParser::getXMLDurabilityQos(
         tinyxml2::XMLElement* elem,
-        DurabilityQosPolicy& durability,
+        dds::DurabilityQosPolicy& durability,
         uint8_t /*ident*/)
 {
     /*
@@ -1726,10 +1726,10 @@ XMLP_ret XMLParser::getXMLDurabilityQos(
             bKindDefined = true;
 
             if (!get_element_enum_value(text.c_str(), durability.kind,
-                    _VOLATILE, DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS,
-                    _TRANSIENT_LOCAL, DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS,
-                    _TRANSIENT, DurabilityQosPolicyKind::TRANSIENT_DURABILITY_QOS,
-                    _PERSISTENT, DurabilityQosPolicyKind::PERSISTENT_DURABILITY_QOS))
+                    _VOLATILE, dds::DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS,
+                    _TRANSIENT_LOCAL, dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS,
+                    _TRANSIENT, dds::DurabilityQosPolicyKind::TRANSIENT_DURABILITY_QOS,
+                    _PERSISTENT, dds::DurabilityQosPolicyKind::PERSISTENT_DURABILITY_QOS))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -1802,11 +1802,11 @@ XMLP_ret XMLParser::getXMLDurabilityQos(
             }
             if (strcmp(text.c_str(), KEEP_LAST) == 0)
             {
-                durabilityService.history_kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
+                durabilityService.history_kind = dds::HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
             }
             else if (strcmp(text.c_str(), KEEP_ALL) == 0)
             {
-                durabilityService.history_kind = HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+                durabilityService.history_kind = dds::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
             }
             else
             {
@@ -1858,7 +1858,7 @@ XMLP_ret XMLParser::getXMLDurabilityQos(
 
 XMLP_ret XMLParser::getXMLDeadlineQos(
         tinyxml2::XMLElement* elem,
-        DeadlineQosPolicy& deadline,
+        dds::DeadlineQosPolicy& deadline,
         uint8_t ident)
 {
     /*
@@ -1900,7 +1900,7 @@ XMLP_ret XMLParser::getXMLDeadlineQos(
 
 XMLP_ret XMLParser::getXMLLatencyBudgetQos(
         tinyxml2::XMLElement* elem,
-        LatencyBudgetQosPolicy& latencyBudget,
+        dds::LatencyBudgetQosPolicy& latencyBudget,
         uint8_t ident)
 {
     /*
@@ -1942,7 +1942,7 @@ XMLP_ret XMLParser::getXMLLatencyBudgetQos(
 
 XMLP_ret XMLParser::getXMLLivelinessQos(
         tinyxml2::XMLElement* elem,
-        LivelinessQosPolicy& liveliness,
+        dds::LivelinessQosPolicy& liveliness,
         uint8_t ident)
 {
     /*
@@ -1980,9 +1980,9 @@ XMLP_ret XMLParser::getXMLLivelinessQos(
             }
 
             if (!get_element_enum_value(text.c_str(), liveliness.kind,
-                    AUTOMATIC, LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS,
-                    MANUAL_BY_PARTICIPANT, LivelinessQosPolicyKind::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,
-                    MANUAL_BY_TOPIC, LivelinessQosPolicyKind::MANUAL_BY_TOPIC_LIVELINESS_QOS))
+                    AUTOMATIC, dds::LivelinessQosPolicyKind::AUTOMATIC_LIVELINESS_QOS,
+                    MANUAL_BY_PARTICIPANT, dds::LivelinessQosPolicyKind::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS,
+                    MANUAL_BY_TOPIC, dds::LivelinessQosPolicyKind::MANUAL_BY_TOPIC_LIVELINESS_QOS))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -2016,7 +2016,7 @@ XMLP_ret XMLParser::getXMLLivelinessQos(
 
 XMLP_ret XMLParser::getXMLReliabilityQos(
         tinyxml2::XMLElement* elem,
-        ReliabilityQosPolicy& reliability,
+        dds::ReliabilityQosPolicy& reliability,
         uint8_t ident)
 {
     /*
@@ -2052,8 +2052,8 @@ XMLP_ret XMLParser::getXMLReliabilityQos(
             }
 
             if (!get_element_enum_value(text.c_str(), reliability.kind,
-                    _BEST_EFFORT, ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS,
-                    _RELIABLE, ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS))
+                    _BEST_EFFORT, dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS,
+                    _RELIABLE, dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -2078,7 +2078,7 @@ XMLP_ret XMLParser::getXMLReliabilityQos(
 
 XMLP_ret XMLParser::getXMLLifespanQos(
         tinyxml2::XMLElement* elem,
-        LifespanQosPolicy& lifespan,
+        dds::LifespanQosPolicy& lifespan,
         uint8_t ident)
 {
     /*
@@ -2121,7 +2121,7 @@ XMLP_ret XMLParser::getXMLLifespanQos(
 
 XMLP_ret XMLParser::getXMLDisablePositiveAcksQos(
         tinyxml2::XMLElement* elem,
-        DisablePositiveACKsQosPolicy& disablePositiveAcks,
+        dds::DisablePositiveACKsQosPolicy& disablePositiveAcks,
         uint8_t ident)
 {
     /*
@@ -2164,7 +2164,7 @@ XMLP_ret XMLParser::getXMLDisablePositiveAcksQos(
 
 XMLP_ret XMLParser::getXMLDataSharingQos(
         tinyxml2::XMLElement* elem,
-        DataSharingQosPolicy& data_sharing,
+        dds::DataSharingQosPolicy& data_sharing,
         uint8_t ident)
 {
     /*
@@ -2193,7 +2193,7 @@ XMLP_ret XMLParser::getXMLDataSharingQos(
         </xs:complexType>
      */
     bool kind_found = false;
-    DataSharingKind kind = DataSharingKind::AUTO;
+    dds::DataSharingKind kind = dds::DataSharingKind::AUTO;
     std::string shm_directory = "";
     int32_t max_domains = 0;
     std::vector<uint16_t> domain_ids;
@@ -2222,10 +2222,10 @@ XMLP_ret XMLParser::getXMLDataSharingQos(
             }
 
             if (!get_element_enum_value(text.c_str(), kind,
-                    ON, DataSharingKind::ON,
-                    OFF, DataSharingKind::OFF,
-                    AUTOMATIC, DataSharingKind::AUTO,
-                    AUTO, DataSharingKind::AUTO))
+                    ON, dds::DataSharingKind::ON,
+                    OFF, dds::DataSharingKind::OFF,
+                    AUTOMATIC, dds::DataSharingKind::AUTO,
+                    AUTO, dds::DataSharingKind::AUTO))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -2325,15 +2325,15 @@ XMLP_ret XMLParser::getXMLDataSharingQos(
 
     switch (kind)
     {
-        case DataSharingKind::ON:
+        case dds::DataSharingKind::ON:
             data_sharing.on(shm_directory, domain_ids);
             break;
 
-        case DataSharingKind::AUTO:
+        case dds::DataSharingKind::AUTO:
             data_sharing.automatic(shm_directory, domain_ids);
             break;
 
-        case DataSharingKind::OFF:
+        case dds::DataSharingKind::OFF:
             data_sharing.off();
             break;
 
@@ -2391,7 +2391,7 @@ XMLP_ret XMLParser::getXMLDataSharingQos(
 
 XMLP_ret XMLParser::getXMLOwnershipQos(
         tinyxml2::XMLElement* elem,
-        OwnershipQosPolicy& ownership,
+        dds::OwnershipQosPolicy& ownership,
         uint8_t ident)
 {
     (void)ident;
@@ -2427,8 +2427,8 @@ XMLP_ret XMLParser::getXMLOwnershipQos(
             }
 
             if (!get_element_enum_value(text.c_str(), ownership.kind,
-                    SHARED, OwnershipQosPolicyKind::SHARED_OWNERSHIP_QOS,
-                    EXCLUSIVE, OwnershipQosPolicyKind::EXCLUSIVE_OWNERSHIP_QOS))
+                    SHARED, dds::OwnershipQosPolicyKind::SHARED_OWNERSHIP_QOS,
+                    EXCLUSIVE, dds::OwnershipQosPolicyKind::EXCLUSIVE_OWNERSHIP_QOS))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' with bad content");
                 return XMLP_ret::XML_ERROR;
@@ -2452,7 +2452,7 @@ XMLP_ret XMLParser::getXMLOwnershipQos(
 
 XMLP_ret XMLParser::getXMLOwnershipStrengthQos(
         tinyxml2::XMLElement* elem,
-        OwnershipStrengthQosPolicy& ownershipStrength,
+        dds::OwnershipStrengthQosPolicy& ownershipStrength,
         uint8_t ident)
 {
 
@@ -2648,7 +2648,7 @@ XMLP_ret XMLParser::getXMLOwnershipStrengthQos(
 
 XMLP_ret XMLParser::getXMLPartitionQos(
         tinyxml2::XMLElement* elem,
-        PartitionQosPolicy& partition,
+        dds::PartitionQosPolicy& partition,
         uint8_t ident)
 {
     /*
@@ -2707,7 +2707,7 @@ XMLP_ret XMLParser::getXMLPartitionQos(
 
 XMLP_ret XMLParser::getXMLPublishModeQos(
         tinyxml2::XMLElement* elem,
-        PublishModeQosPolicy& publishMode,
+        dds::PublishModeQosPolicy& publishMode,
         uint8_t /*ident*/)
 {
     /*
@@ -2742,8 +2742,8 @@ XMLP_ret XMLParser::getXMLPublishModeQos(
             }
 
             if (!get_element_enum_value(text.c_str(), publishMode.kind,
-                    SYNCHRONOUS, PublishModeQosPolicyKind::SYNCHRONOUS_PUBLISH_MODE,
-                    ASYNCHRONOUS, PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE))
+                    SYNCHRONOUS, dds::PublishModeQosPolicyKind::SYNCHRONOUS_PUBLISH_MODE,
+                    ASYNCHRONOUS, dds::PublishModeQosPolicyKind::ASYNCHRONOUS_PUBLISH_MODE))
             {
                 EPROSIMA_LOG_ERROR(XMLPARSER, "Node '" << KIND << "' bad content");
                 return XMLP_ret::XML_ERROR;
diff --git a/src/cpp/xmlparser/XMLEndpointParser.cpp b/src/cpp/xmlparser/XMLEndpointParser.cpp
index 8cb5f393345..366ceba5afa 100644
--- a/src/cpp/xmlparser/XMLEndpointParser.cpp
+++ b/src/cpp/xmlparser/XMLEndpointParser.cpp
@@ -347,11 +347,11 @@ XMLP_ret XMLEndpointParser::loadXMLReaderEndpoint(
             std::string auxString(get_element_text(element));
             if (auxString == _RELIABLE_RELIABILITY_QOS)
             {
-                rdata->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+                rdata->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
             }
             else if (auxString == _BEST_EFFORT_RELIABILITY_QOS)
             {
-                rdata->m_qos.m_reliability.kind = BEST_EFFORT_RELIABILITY_QOS;
+                rdata->m_qos.m_reliability.kind = dds::BEST_EFFORT_RELIABILITY_QOS;
             }
             else
             {
@@ -373,19 +373,19 @@ XMLP_ret XMLEndpointParser::loadXMLReaderEndpoint(
             std::string auxstring(get_element_text(element));
             if (auxstring == _PERSISTENT_DURABILITY_QOS)
             {
-                rdata->m_qos.m_durability.kind = PERSISTENT_DURABILITY_QOS;
+                rdata->m_qos.m_durability.kind = dds::PERSISTENT_DURABILITY_QOS;
             }
             else if (auxstring == _TRANSIENT_DURABILITY_QOS)
             {
-                rdata->m_qos.m_durability.kind = TRANSIENT_DURABILITY_QOS;
+                rdata->m_qos.m_durability.kind = dds::TRANSIENT_DURABILITY_QOS;
             }
             else if (auxstring == _TRANSIENT_LOCAL_DURABILITY_QOS)
             {
-                rdata->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+                rdata->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
             }
             else if (auxstring == _VOLATILE_DURABILITY_QOS)
             {
-                rdata->m_qos.m_durability.kind = VOLATILE_DURABILITY_QOS;
+                rdata->m_qos.m_durability.kind = dds::VOLATILE_DURABILITY_QOS;
             }
             else
             {
@@ -400,11 +400,11 @@ XMLP_ret XMLEndpointParser::loadXMLReaderEndpoint(
             std::string auxstring(ownership ? ownership : OWNERSHIP_KIND_NOT_PRESENT);
             if (auxstring == _SHARED_OWNERSHIP_QOS)
             {
-                rdata->m_qos.m_ownership.kind = SHARED_OWNERSHIP_QOS;
+                rdata->m_qos.m_ownership.kind = dds::SHARED_OWNERSHIP_QOS;
             }
             else if (auxstring == _EXCLUSIVE_OWNERSHIP_QOS)
             {
-                rdata->m_qos.m_ownership.kind = EXCLUSIVE_OWNERSHIP_QOS;
+                rdata->m_qos.m_ownership.kind = dds::EXCLUSIVE_OWNERSHIP_QOS;
             }
             else
             {
@@ -423,15 +423,15 @@ XMLP_ret XMLEndpointParser::loadXMLReaderEndpoint(
             std::string auxstring(kind ? kind : LIVELINESS_KIND_NOT_PRESENT);
             if (auxstring == _AUTOMATIC_LIVELINESS_QOS)
             {
-                rdata->m_qos.m_liveliness.kind = AUTOMATIC_LIVELINESS_QOS;
+                rdata->m_qos.m_liveliness.kind = dds::AUTOMATIC_LIVELINESS_QOS;
             }
             else if (auxstring == _MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             {
-                rdata->m_qos.m_liveliness.kind = MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
+                rdata->m_qos.m_liveliness.kind = dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
             }
             else if (auxstring == _MANUAL_BY_TOPIC_LIVELINESS_QOS)
             {
-                rdata->m_qos.m_liveliness.kind = MANUAL_BY_TOPIC_LIVELINESS_QOS;
+                rdata->m_qos.m_liveliness.kind = dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
             }
             else
             {
@@ -636,11 +636,11 @@ XMLP_ret XMLEndpointParser::loadXMLWriterEndpoint(
             std::string auxString = std::string(get_element_text(element));
             if (auxString == _RELIABLE_RELIABILITY_QOS)
             {
-                wdata->m_qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+                wdata->m_qos.m_reliability.kind = dds::RELIABLE_RELIABILITY_QOS;
             }
             else if (auxString == _BEST_EFFORT_RELIABILITY_QOS)
             {
-                wdata->m_qos.m_reliability.kind = BEST_EFFORT_RELIABILITY_QOS;
+                wdata->m_qos.m_reliability.kind = dds::BEST_EFFORT_RELIABILITY_QOS;
             }
             else
             {
@@ -662,19 +662,19 @@ XMLP_ret XMLEndpointParser::loadXMLWriterEndpoint(
             std::string auxstring = std::string(get_element_text(element));
             if (auxstring == _PERSISTENT_DURABILITY_QOS)
             {
-                wdata->m_qos.m_durability.kind = PERSISTENT_DURABILITY_QOS;
+                wdata->m_qos.m_durability.kind = dds::PERSISTENT_DURABILITY_QOS;
             }
             else if (auxstring == _TRANSIENT_DURABILITY_QOS)
             {
-                wdata->m_qos.m_durability.kind = TRANSIENT_DURABILITY_QOS;
+                wdata->m_qos.m_durability.kind = dds::TRANSIENT_DURABILITY_QOS;
             }
             else if (auxstring == _TRANSIENT_LOCAL_DURABILITY_QOS)
             {
-                wdata->m_qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+                wdata->m_qos.m_durability.kind = dds::TRANSIENT_LOCAL_DURABILITY_QOS;
             }
             else if (auxstring == _VOLATILE_DURABILITY_QOS)
             {
-                wdata->m_qos.m_durability.kind = VOLATILE_DURABILITY_QOS;
+                wdata->m_qos.m_durability.kind = dds::VOLATILE_DURABILITY_QOS;
             }
             else
             {
@@ -689,11 +689,11 @@ XMLP_ret XMLEndpointParser::loadXMLWriterEndpoint(
             std::string auxstring(kind ? kind : OWNERSHIP_KIND_NOT_PRESENT);
             if (auxstring == _SHARED_OWNERSHIP_QOS)
             {
-                wdata->m_qos.m_ownership.kind = SHARED_OWNERSHIP_QOS;
+                wdata->m_qos.m_ownership.kind = dds::SHARED_OWNERSHIP_QOS;
             }
             else if (auxstring == _EXCLUSIVE_OWNERSHIP_QOS)
             {
-                wdata->m_qos.m_ownership.kind = EXCLUSIVE_OWNERSHIP_QOS;
+                wdata->m_qos.m_ownership.kind = dds::EXCLUSIVE_OWNERSHIP_QOS;
             }
             else
             {
@@ -715,15 +715,15 @@ XMLP_ret XMLEndpointParser::loadXMLWriterEndpoint(
             std::string auxstring(kind ? kind : LIVELINESS_KIND_NOT_PRESENT);
             if (auxstring == _AUTOMATIC_LIVELINESS_QOS)
             {
-                wdata->m_qos.m_liveliness.kind = AUTOMATIC_LIVELINESS_QOS;
+                wdata->m_qos.m_liveliness.kind = dds::AUTOMATIC_LIVELINESS_QOS;
             }
             else if (auxstring == _MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             {
-                wdata->m_qos.m_liveliness.kind = MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
+                wdata->m_qos.m_liveliness.kind = dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
             }
             else if (auxstring == _MANUAL_BY_TOPIC_LIVELINESS_QOS)
             {
-                wdata->m_qos.m_liveliness.kind = MANUAL_BY_TOPIC_LIVELINESS_QOS;
+                wdata->m_qos.m_liveliness.kind = dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
             }
             else
             {
diff --git a/src/cpp/xmlparser/XMLEndpointParser.h b/src/cpp/xmlparser/XMLEndpointParser.h
index 90c7e66d0d4..6f7befdeab6 100644
--- a/src/cpp/xmlparser/XMLEndpointParser.h
+++ b/src/cpp/xmlparser/XMLEndpointParser.h
@@ -149,7 +149,7 @@ class XMLEndpointParser : XMLParser
 
     XMLP_ret get_disable_positive_acks_qos(
             tinyxml2::XMLElement* elem,
-            DisablePositiveACKsQosPolicy& disable_positive_acks_qos);
+            dds::DisablePositiveACKsQosPolicy& disable_positive_acks_qos);
 
     std::set<int16_t> m_endpointIds;
     std::set<uint32_t> m_entityIds;
diff --git a/src/cpp/xmlparser/XMLParser.h b/src/cpp/xmlparser/XMLParser.h
index 07c6f426fc7..27646091c10 100644
--- a/src/cpp/xmlparser/XMLParser.h
+++ b/src/cpp/xmlparser/XMLParser.h
@@ -445,87 +445,87 @@ class XMLParser
 
     static XMLP_ret getXMLPublishModeQos(
             tinyxml2::XMLElement* elem,
-            PublishModeQosPolicy& publishMode,
+            dds::PublishModeQosPolicy& publishMode,
             uint8_t ident);
 
     static XMLP_ret getXMLGroupDataQos(
             tinyxml2::XMLElement* elem,
-            GroupDataQosPolicy& groupData,
+            dds::GroupDataQosPolicy& groupData,
             uint8_t ident);
 
     static XMLP_ret getXMLTopicDataQos(
             tinyxml2::XMLElement* elem,
-            TopicDataQosPolicy& topicData,
+            dds::TopicDataQosPolicy& topicData,
             uint8_t ident);
 
     static XMLP_ret getXMLPartitionQos(
             tinyxml2::XMLElement* elem,
-            PartitionQosPolicy& partition,
+            dds::PartitionQosPolicy& partition,
             uint8_t ident);
 
     static XMLP_ret getXMLPresentationQos(
             tinyxml2::XMLElement* elem,
-            PresentationQosPolicy& presentation,
+            dds::PresentationQosPolicy& presentation,
             uint8_t ident);
 
     static XMLP_ret getXMLDestinationOrderQos(
             tinyxml2::XMLElement* elem,
-            DestinationOrderQosPolicy& destinationOrder,
+            dds::DestinationOrderQosPolicy& destinationOrder,
             uint8_t ident);
 
     static XMLP_ret getXMLOwnershipStrengthQos(
             tinyxml2::XMLElement* elem,
-            OwnershipStrengthQosPolicy& ownershipStrength,
+            dds::OwnershipStrengthQosPolicy& ownershipStrength,
             uint8_t ident);
 
     static XMLP_ret getXMLOwnershipQos(
             tinyxml2::XMLElement* elem,
-            OwnershipQosPolicy& ownership,
+            dds::OwnershipQosPolicy& ownership,
             uint8_t ident);
 
     static XMLP_ret getXMLTimeBasedFilterQos(
             tinyxml2::XMLElement* elem,
-            TimeBasedFilterQosPolicy& timeBasedFilter,
+            dds::TimeBasedFilterQosPolicy& timeBasedFilter,
             uint8_t ident);
 
     static XMLP_ret getXMLUserDataQos(
             tinyxml2::XMLElement* elem,
-            UserDataQosPolicy& userData,
+            dds::UserDataQosPolicy& userData,
             uint8_t ident);
 
     static XMLP_ret getXMLLifespanQos(
             tinyxml2::XMLElement* elem,
-            LifespanQosPolicy& lifespan,
+            dds::LifespanQosPolicy& lifespan,
             uint8_t ident);
 
     static XMLP_ret getXMLReliabilityQos(
             tinyxml2::XMLElement* elem,
-            ReliabilityQosPolicy& reliability,
+            dds::ReliabilityQosPolicy& reliability,
             uint8_t ident);
 
     static XMLP_ret getXMLLivelinessQos(
             tinyxml2::XMLElement* elem,
-            LivelinessQosPolicy& liveliness,
+            dds::LivelinessQosPolicy& liveliness,
             uint8_t ident);
 
     static XMLP_ret getXMLLatencyBudgetQos(
             tinyxml2::XMLElement* elem,
-            LatencyBudgetQosPolicy& latencyBudget,
+            dds::LatencyBudgetQosPolicy& latencyBudget,
             uint8_t ident);
 
     static XMLP_ret getXMLDeadlineQos(
             tinyxml2::XMLElement* elem,
-            DeadlineQosPolicy& deadline,
+            dds::DeadlineQosPolicy& deadline,
             uint8_t ident);
 
     static XMLP_ret getXMLDurabilityServiceQos(
             tinyxml2::XMLElement* elem,
-            DurabilityServiceQosPolicy& durabilityService,
+            dds::DurabilityServiceQosPolicy& durabilityService,
             uint8_t ident);
 
     static XMLP_ret getXMLDurabilityQos(
             tinyxml2::XMLElement* elem,
-            DurabilityQosPolicy& durability,
+            dds::DurabilityQosPolicy& durability,
             uint8_t ident);
 
     static XMLP_ret getXMLTopicAttributes(
@@ -535,12 +535,12 @@ class XMLParser
 
     static XMLP_ret getXMLHistoryQosPolicy(
             tinyxml2::XMLElement* elem,
-            HistoryQosPolicy& historyQos,
+            dds::HistoryQosPolicy& historyQos,
             uint8_t ident);
 
     static XMLP_ret getXMLResourceLimitsQos(
             tinyxml2::XMLElement* elem,
-            ResourceLimitsQosPolicy& resourceLimitsQos,
+            dds::ResourceLimitsQosPolicy& resourceLimitsQos,
             uint8_t ident);
 
     static XMLP_ret getXMLContainerAllocationConfig(
@@ -650,12 +650,12 @@ class XMLParser
 
     static XMLP_ret getXMLDisablePositiveAcksQos(
             tinyxml2::XMLElement* elem,
-            DisablePositiveACKsQosPolicy& disablePositiveAcks,
+            dds::DisablePositiveACKsQosPolicy& disablePositiveAcks,
             uint8_t ident);
 
     static XMLP_ret getXMLDataSharingQos(
             tinyxml2::XMLElement* elem,
-            DataSharingQosPolicy& data_sharing,
+            dds::DataSharingQosPolicy& data_sharing,
             uint8_t ident);
 
     static XMLP_ret getXMLguidPrefix(
diff --git a/test/blackbox/api/dds-pim/ReqRepHelloWorldReplier.cpp b/test/blackbox/api/dds-pim/ReqRepHelloWorldReplier.cpp
index c70c3c0f74f..9565dae83ba 100644
--- a/test/blackbox/api/dds-pim/ReqRepHelloWorldReplier.cpp
+++ b/test/blackbox/api/dds-pim/ReqRepHelloWorldReplier.cpp
@@ -18,21 +18,21 @@
  */
 
 #include "ReqRepHelloWorldReplier.hpp"
-#include "../../common/BlackboxTests.hpp"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <gtest/gtest.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/topic/Topic.hpp>
-
-#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/topic/Topic.hpp>
+#include <fastdds/rtps/common/WriteParams.h>
 
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
-
-#include <gtest/gtest.h>
+#include "../../common/BlackboxTests.hpp"
 
 ReqRepHelloWorldReplier::ReqRepHelloWorldReplier()
     : request_listener_(*this)
diff --git a/test/blackbox/api/dds-pim/ReqRepHelloWorldRequester.cpp b/test/blackbox/api/dds-pim/ReqRepHelloWorldRequester.cpp
index 6fede9f3b1e..d72a6d0c12f 100644
--- a/test/blackbox/api/dds-pim/ReqRepHelloWorldRequester.cpp
+++ b/test/blackbox/api/dds-pim/ReqRepHelloWorldRequester.cpp
@@ -18,22 +18,21 @@
  */
 
 #include "ReqRepHelloWorldRequester.hpp"
-#include "../../common/BlackboxTests.hpp"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <gtest/gtest.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-
-#include <fastdds/dds/topic/Topic.hpp>
-
-#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/topic/Topic.hpp>
+#include <fastdds/rtps/common/WriteParams.h>
 
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
-
-#include <gtest/gtest.h>
+#include "../../common/BlackboxTests.hpp"
 
 ReqRepHelloWorldRequester::ReqRepHelloWorldRequester()
     : reply_listener_(*this)
diff --git a/test/blackbox/api/dds-pim/TCPReqRepHelloWorldReplier.cpp b/test/blackbox/api/dds-pim/TCPReqRepHelloWorldReplier.cpp
index 1d8a4dcad6d..bcda9eca040 100644
--- a/test/blackbox/api/dds-pim/TCPReqRepHelloWorldReplier.cpp
+++ b/test/blackbox/api/dds-pim/TCPReqRepHelloWorldReplier.cpp
@@ -17,23 +17,25 @@
  *
  */
 
-#include "../../common/BlackboxTests.hpp"
 #include "TCPReqRepHelloWorldReplier.hpp"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <gtest/gtest.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/topic/Topic.hpp>
-#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/topic/Topic.hpp>
+#include <fastdds/rtps/common/WriteParams.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
 #include <fastdds/utils/IPLocator.h>
 
-#include <gtest/gtest.h>
+#include "../../common/BlackboxTests.hpp"
 
 using namespace eprosima::fastdds::rtps;
 using namespace eprosima::fastdds::dds;
diff --git a/test/blackbox/api/dds-pim/TCPReqRepHelloWorldRequester.cpp b/test/blackbox/api/dds-pim/TCPReqRepHelloWorldRequester.cpp
index 5fa725c5b96..2dfcd2de409 100644
--- a/test/blackbox/api/dds-pim/TCPReqRepHelloWorldRequester.cpp
+++ b/test/blackbox/api/dds-pim/TCPReqRepHelloWorldRequester.cpp
@@ -17,23 +17,25 @@
  *
  */
 
-#include "../../common/BlackboxTests.hpp"
 #include "TCPReqRepHelloWorldRequester.hpp"
 
-#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <gtest/gtest.h>
+
 #include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
 #include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
-#include <fastdds/dds/publisher/Publisher.hpp>
-#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+#include <fastdds/rtps/common/WriteParams.h>
 #include <fastdds/rtps/transport/TCPv4TransportDescriptor.h>
 #include <fastdds/rtps/transport/TCPv6TransportDescriptor.h>
-#include <fastdds/utils/IPLocator.h>
 #include <fastdds/utils/IPFinder.h>
+#include <fastdds/utils/IPLocator.h>
 
-#include <gtest/gtest.h>
+#include "../../common/BlackboxTests.hpp"
 
 using namespace eprosima::fastdds::rtps;
 using namespace eprosima::fastdds::dds;
diff --git a/test/blackbox/common/BlackboxTestsDeadlineQos.cpp b/test/blackbox/common/BlackboxTestsDeadlineQos.cpp
index 9223e2c8ab8..3a3da6e54cc 100644
--- a/test/blackbox/common/BlackboxTestsDeadlineQos.cpp
+++ b/test/blackbox/common/BlackboxTestsDeadlineQos.cpp
@@ -265,7 +265,7 @@ TEST_P(DeadlineQos, KeyedTopicNoReaderVolatileWriterSetDeadline)
 {
     PubSubWriter<KeyedHelloWorldPubSubType> writer(TEST_TOPIC_NAME);
 
-    writer.durability_kind(VOLATILE_DURABILITY_QOS);
+    writer.durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS);
 
     uint32_t deadline_period_ms = 50;
 
@@ -290,7 +290,7 @@ TEST_P(DeadlineQos, KeyedTopicBestEffortReaderVolatileWriterSetDeadline)
     PubSubWriter<KeyedHelloWorldPubSubType> writer(TEST_TOPIC_NAME);
     PubSubReader<KeyedHelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 
-    writer.durability_kind(VOLATILE_DURABILITY_QOS);
+    writer.durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS);
 
     uint32_t deadline_period_ms = 50;
 
diff --git a/test/blackbox/common/BlackboxTestsLivelinessQos.cpp b/test/blackbox/common/BlackboxTestsLivelinessQos.cpp
index d48adbd040a..edb3d948048 100644
--- a/test/blackbox/common/BlackboxTestsLivelinessQos.cpp
+++ b/test/blackbox/common/BlackboxTestsLivelinessQos.cpp
@@ -105,12 +105,12 @@ TEST_P(LivelinessQos, Liveliness_Automatic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -159,12 +159,12 @@ TEST_P(LivelinessQos, Liveliness_Automatic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -218,12 +218,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByParticipant_Reliable)
     unsigned int lease_duration_ms = 1500;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -304,12 +304,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByParticipant_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -391,12 +391,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByParticipant_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -471,12 +471,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByParticipant_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -550,12 +550,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -634,12 +634,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -717,12 +717,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByTopic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -797,12 +797,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByTopic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -877,12 +877,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByParticipant_Automatic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -934,12 +934,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByParticipant_Automatic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -997,12 +997,12 @@ TEST_P(LivelinessQos, LongLiveliness_ManualByParticipant_Automatic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1055,12 +1055,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByParticipant_Automatic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1117,12 +1117,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_Automatic_Reliable)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1178,12 +1178,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_Automatic_BestEffort)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1239,12 +1239,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_ManualByParticipant_Reliable
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1300,12 +1300,12 @@ TEST_P(LivelinessQos, ShortLiveliness_ManualByTopic_ManualByParticipant_BestEffo
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    reader.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1359,25 +1359,25 @@ TEST_P(LivelinessQos, TwoWriters_OneReader_ManualByParticipant)
     PubSubParticipant<HelloWorldPubSubType> publishers(num_pub, 0u, 2u, 0u);
     ASSERT_TRUE(publishers.init_participant());
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
 
     // Subscribers
     PubSubParticipant<HelloWorldPubSubType> subscribers(0u, num_sub, 0u, 2u);
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
 
     publishers.pub_wait_discovery();
@@ -1409,12 +1409,12 @@ TEST_P(LivelinessQos, TwoWriters_TwoReaders_ManualByParticipant)
     publishers.pub_topic_name(TEST_TOPIC_NAME + "1")
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME + "2")
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
 
     // Subscribers
@@ -1422,11 +1422,11 @@ TEST_P(LivelinessQos, TwoWriters_TwoReaders_ManualByParticipant)
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME + "1")
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME + "2")
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(1u));
 
     publishers.pub_wait_discovery();
@@ -1463,30 +1463,30 @@ TEST_P(LivelinessQos, TwoWriters_TwoReaders_ManualByTopic)
     PubSubParticipant<HelloWorldPubSubType> publishers(num_pub, 0u, num_sub, 0u);
     ASSERT_TRUE(publishers.init_participant());
     publishers.pub_topic_name(TEST_TOPIC_NAME + "1")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME + "2")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
 
     // Subscribers
     PubSubParticipant<HelloWorldPubSubType> subscribers(0u, num_sub, 0u, num_pub);
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME + "1")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME + "2")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(1u));
 
     publishers.pub_wait_discovery();
@@ -1524,30 +1524,30 @@ TEST_P(LivelinessQos, TwoWriters_TwoReaders)
     PubSubParticipant<HelloWorldPubSubType> publishers(num_pub, 0u, 3u, 0u);
     ASSERT_TRUE(publishers.init_participant());
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
 
     // Subscribers
     PubSubParticipant<HelloWorldPubSubType> subscribers(0u, num_sub, 0u, 3u);
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(1u));
 
     publishers.pub_wait_discovery();
@@ -1578,41 +1578,41 @@ TEST_P(LivelinessQos, ThreeWriters_ThreeReaders)
     PubSubParticipant<HelloWorldPubSubType> publishers(num_pub, 0u, 6u, 0u);
     ASSERT_TRUE(publishers.init_participant());
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(2u));
 
     // Subscribers
     PubSubParticipant<HelloWorldPubSubType> subscribers(0u, num_sub, 0u, 6u);
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(1u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(subscribers.init_subscriber(2u));
 
     publishers.pub_wait_discovery();
@@ -1659,7 +1659,7 @@ TEST_P(LivelinessQos, UnmatchedWriter)
     publishers.pub_topic_name(TEST_TOPIC_NAME)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .pub_deadline_period(0.15);
     ASSERT_TRUE(publishers.init_publisher(0u));
 
@@ -1668,12 +1668,12 @@ TEST_P(LivelinessQos, UnmatchedWriter)
     ASSERT_TRUE(subscribers.init_participant());
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .sub_deadline_period(0.5);
     ASSERT_TRUE(subscribers.init_subscriber(0u));
     subscribers.sub_topic_name(TEST_TOPIC_NAME)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .sub_deadline_period(1.5);
     ASSERT_TRUE(subscribers.init_subscriber(1u));
 
@@ -1702,12 +1702,12 @@ TEST_P(LivelinessQos, LivelinessChangedStatus_Alive_NotAlive)
     unsigned int lease_duration_ms = 100;
     unsigned int announcement_period_ms = 10;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
@@ -1759,13 +1759,13 @@ TEST_P(LivelinessQos, LivelinessChangedStatus_Alive_Unmatched)
     unsigned int lease_duration_ms = 100;
     unsigned int announcement_period_ms = 10;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .deadline_period(0.15)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .deadline_period(0.15)
@@ -1812,13 +1812,13 @@ TEST_P(LivelinessQos, LivelinessChangedStatus_NotAlive_Unmatched)
     unsigned int lease_duration_ms = 100;
     unsigned int announcement_period_ms = 10;
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .deadline_period(0.15)
             .init();
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
-            .liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS)
             .liveliness_announcement_period(announcement_period_ms * 1e-3)
             .liveliness_lease_duration(lease_duration_ms * 1e-3)
             .deadline_period(0.15)
@@ -1867,22 +1867,22 @@ TEST_P(LivelinessQos, AssertLivelinessParticipant)
     PubSubParticipant<HelloWorldPubSubType> publishers(num_pub, 0u, 0u, 0u);
     ASSERT_TRUE(publishers.init_participant());
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(0u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(1u));
     publishers.pub_topic_name(TEST_TOPIC_NAME)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
-            .pub_liveliness_kind(MANUAL_BY_TOPIC_LIVELINESS_QOS);
+            .pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     ASSERT_TRUE(publishers.init_publisher(2u));
 
     // Assert liveliness
@@ -1915,16 +1915,16 @@ TEST(LivelinessTests, Detect_Deadlock_ManualByParticipant_Intraprocess)
     unsigned int lease_duration_ms = 1000;
     unsigned int announcement_period_ms = 1;
 
-    participantA.pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    participantA.pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .sub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
             .sub_liveliness_lease_duration(lease_duration_ms * 1e-3)
             .init();
 
-    participantB.pub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
-            .sub_liveliness_kind(MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+    participantB.pub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
+            .sub_liveliness_kind(eprosima::fastdds::dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS)
             .pub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .sub_liveliness_announcement_period(announcement_period_ms * 1e-3)
             .pub_liveliness_lease_duration(lease_duration_ms * 1e-3)
diff --git a/test/blackbox/common/BlackboxTestsPubSubBasic.cpp b/test/blackbox/common/BlackboxTestsPubSubBasic.cpp
index 60191498e27..9f2c1fff622 100644
--- a/test/blackbox/common/BlackboxTestsPubSubBasic.cpp
+++ b/test/blackbox/common/BlackboxTestsPubSubBasic.cpp
@@ -726,7 +726,8 @@ TEST_P(PubSubBasic, unique_flows_one_writer_two_readers)
     PropertyPolicy properties;
     properties.properties().emplace_back("fastdds.unique_network_flows", "");
 
-    readers.sub_topic_name(TEST_TOPIC_NAME).sub_property_policy(properties).reliability(RELIABLE_RELIABILITY_QOS);
+    readers.sub_topic_name(TEST_TOPIC_NAME).sub_property_policy(properties).reliability(
+        eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
 
     ASSERT_TRUE(readers.init_participant());
     ASSERT_TRUE(readers.init_subscriber(0));
@@ -802,7 +803,7 @@ TEST_P(PubSubBasic, BestEffortTwoWritersConsecutives)
     for (int i = 0; i < 2; ++i)
     {
         PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
-        writer.history_depth(10).reliability(BEST_EFFORT_RELIABILITY_QOS);
+        writer.history_depth(10).reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS);
         two_consecutive_writers(reader, writer, false);
     }
 }
@@ -812,13 +813,13 @@ TEST_P(PubSubBasic, ReliableVolatileTwoWritersConsecutives)
 {
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 
-    reader.history_depth(10).reliability(RELIABLE_RELIABILITY_QOS).init();
+    reader.history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
     EXPECT_TRUE(reader.isInitialized());
 
     for (int i = 0; i < 2; ++i)
     {
         PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
-        writer.history_depth(10).durability_kind(VOLATILE_DURABILITY_QOS);
+        writer.history_depth(10).durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS);
         two_consecutive_writers(reader, writer, true);
     }
 }
@@ -827,7 +828,7 @@ TEST_P(PubSubBasic, ReliableVolatileTwoWritersConsecutivesSameGuid)
 {
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 
-    reader.history_depth(10).reliability(RELIABLE_RELIABILITY_QOS).init();
+    reader.history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
     EXPECT_TRUE(reader.isInitialized());
 
     auto reader_prefix = reader.participant_guid().guidPrefix;
@@ -837,7 +838,8 @@ TEST_P(PubSubBasic, ReliableVolatileTwoWritersConsecutivesSameGuid)
     for (int i = 0; i < 2; ++i)
     {
         PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
-        writer.history_depth(10).durability_kind(VOLATILE_DURABILITY_QOS).guid_prefix(writer_prefix);
+        writer.history_depth(10).durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS).guid_prefix(
+            writer_prefix);
         two_consecutive_writers(reader, writer, true);
     }
 }
@@ -846,14 +848,15 @@ TEST_P(PubSubBasic, ReliableTransientLocalTwoWritersConsecutives)
 {
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
 
-    reader.history_depth(10).reliability(RELIABLE_RELIABILITY_QOS).durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS);
+    reader.history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).durability_kind(
+        eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS);
     reader.init();
     EXPECT_TRUE(reader.isInitialized());
 
     for (int i = 0; i < 2; ++i)
     {
         PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
-        writer.history_depth(10).reliability(RELIABLE_RELIABILITY_QOS);
+        writer.history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
         two_consecutive_writers(reader, writer, true);
     }
 }
diff --git a/test/blackbox/common/BlackboxTestsPubSubFragments.cpp b/test/blackbox/common/BlackboxTestsPubSubFragments.cpp
index 384b461833b..072426a6750 100644
--- a/test/blackbox/common/BlackboxTestsPubSubFragments.cpp
+++ b/test/blackbox/common/BlackboxTestsPubSubFragments.cpp
@@ -660,7 +660,7 @@ TEST(PubSubFragmentsLimited,
 
     reader.history_depth(2)
             .expect_inline_qos(true)
-            .reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -684,7 +684,7 @@ TEST(PubSubFragmentsLimited,
             .heartbeat_period_seconds(0)
             .heartbeat_period_nanosec(1000000)
             .history_depth(1)
-            .asynchronously(eprosima::fastdds::ASYNCHRONOUS_PUBLISH_MODE).init();
+            .asynchronously(eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE).init();
 
     ASSERT_TRUE(writer.isInitialized());
 
diff --git a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
index aa764865534..f5e63ee94db 100644
--- a/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
+++ b/test/blackbox/common/BlackboxTestsPubSubHistory.cpp
@@ -162,9 +162,9 @@ TEST_P(PubSubHistory, CacheChangeReleaseTest)
 
     writer.resource_limits_allocated_samples(1);
     writer.resource_limits_max_samples(1);
-    writer.history_kind(KEEP_LAST_HISTORY_QOS);
+    writer.history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS);
     writer.history_depth(1);
-    writer.reliability(BEST_EFFORT_RELIABILITY_QOS);
+    writer.reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS);
     writer.mem_policy(mem_policy_).init();
     ASSERT_TRUE(writer.isInitialized());
 
@@ -191,7 +191,7 @@ TEST_P(PubSubHistory, PubSubAsReliableKeepLastReaderSmallDepth)
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
     PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS).
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
             history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS).
             history_depth(2).
             resource_limits_allocated_samples(2).
@@ -248,7 +248,7 @@ TEST_P(PubSubHistory, PubSubAsReliableKeepLastWriterSmallDepth)
 {
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
     PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
-    reader.reliability(RELIABLE_RELIABILITY_QOS).mem_policy(mem_policy_).init();
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).mem_policy(mem_policy_).init();
 
     ASSERT_TRUE(reader.isInitialized());
 
@@ -523,7 +523,7 @@ TEST_P(PubSubHistory, PubSubAsReliableKeepLastReaderSmallDepthTwoPublishers)
     PubSubWriter<HelloWorldPubSubType> writer2(TEST_TOPIC_NAME);
 
     reader
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
             .history_depth(1)
             .resource_limits_allocated_samples(1)
@@ -1127,9 +1127,9 @@ TEST_P(PubSubHistory, WriterWithoutReadersTransientLocal)
     PubSubWriter<Data1mbPubSubType> writer(TEST_TOPIC_NAME);
 
     writer
-            .history_kind(KEEP_ALL_HISTORY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .resource_limits_allocated_samples(13)
             .resource_limits_max_samples(13)
             .mem_policy(mem_policy_).init();
@@ -1139,8 +1139,8 @@ TEST_P(PubSubHistory, WriterWithoutReadersTransientLocal)
     // Remove the reader
     PubSubReader<Data1mbPubSubType> reader(TEST_TOPIC_NAME);
     reader
-            .reliability(RELIABLE_RELIABILITY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
             .mem_policy(mem_policy_).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -1179,7 +1179,7 @@ TEST_P(PubSubHistory, WriterUnmatchClearsHistory)
     PubSubWriter<HelloWorldPubSubType> writer2(TEST_TOPIC_NAME);
 
     //Reader with limited history size
-    reader.history_depth(2).reliability(RELIABLE_RELIABILITY_QOS).mem_policy(mem_policy_).init();
+    reader.history_depth(2).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).mem_policy(mem_policy_).init();
     ASSERT_TRUE(reader.isInitialized());
 
     writer.history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS).mem_policy(mem_policy_).init();
@@ -1235,9 +1235,9 @@ TEST_P(PubSubHistory, KeepAllWriterContinueSendingAfterReaderMatched)
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
     PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS);
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
 
-    writer.reliability(RELIABLE_RELIABILITY_QOS)
+    writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
             .resource_limits_allocated_samples(1)
             .resource_limits_max_samples(1);
diff --git a/test/blackbox/common/BlackboxTestsSecurity.cpp b/test/blackbox/common/BlackboxTestsSecurity.cpp
index ddaea131c24..27943b40b19 100644
--- a/test/blackbox/common/BlackboxTestsSecurity.cpp
+++ b/test/blackbox/common/BlackboxTestsSecurity.cpp
@@ -3298,13 +3298,13 @@ TEST_P(Security, BuiltinAuthenticationAndAccessAndCryptoPlugin_Permissions_valid
 
     // Initialize one reader on each partition
     reader_p_1.partition("Partition1").
-            reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS).
+            reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
             property_policy(sub_property_policy).
             init();
     ASSERT_TRUE(reader_p_1.isInitialized());
 
     reader_p_2.partition("Partition2").
-            reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS).
+            reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).
             property_policy(sub_property_policy).
             init();
     ASSERT_TRUE(reader_p_2.isInitialized());
diff --git a/test/blackbox/common/BlackboxTestsTransportTCP.cpp b/test/blackbox/common/BlackboxTestsTransportTCP.cpp
index 5c6e8489834..f350b06bdc8 100644
--- a/test/blackbox/common/BlackboxTestsTransportTCP.cpp
+++ b/test/blackbox/common/BlackboxTestsTransportTCP.cpp
@@ -765,16 +765,16 @@ TEST_P(TransportTCP, large_data_topology)
     // Reliable Keep_all to wait for all acked as end condition
     for (uint16_t i = 0; i < n_participants; i++)
     {
-        writers[i]->reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS)
-                .history_kind(eprosima::fastdds::KEEP_ALL_HISTORY_QOS)
-                .durability_kind(eprosima::fastdds::TRANSIENT_LOCAL_DURABILITY_QOS)
+        writers[i]->reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+                .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
+                .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
                 .lease_duration(eprosima::fastdds::c_TimeInfinite, eprosima::fastdds::Duration_t(3, 0))
                 .resource_limits_max_instances(1)
                 .resource_limits_max_samples_per_instance(samples_per_participant);
 
-        readers[i]->reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS)
-                .history_kind(eprosima::fastdds::KEEP_ALL_HISTORY_QOS)
-                .durability_kind(eprosima::fastdds::TRANSIENT_LOCAL_DURABILITY_QOS)
+        readers[i]->reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+                .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
+                .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
                 .lease_duration(eprosima::fastdds::c_TimeInfinite, eprosima::fastdds::Duration_t(3, 0))
                 .resource_limits_max_instances(n_participants)
                 .resource_limits_max_samples_per_instance(samples_per_participant);
diff --git a/test/blackbox/common/BlackboxTestsTransportUDP.cpp b/test/blackbox/common/BlackboxTestsTransportUDP.cpp
index df9e27b073e..19ac9ee9b82 100644
--- a/test/blackbox/common/BlackboxTestsTransportUDP.cpp
+++ b/test/blackbox/common/BlackboxTestsTransportUDP.cpp
@@ -590,8 +590,8 @@ TEST(TransportUDP, MaliciousManipulatedDataOctetsToNextHeaderIgnore)
 
     // Set common QoS
     reader.disable_builtin_transport().add_user_transport_to_pparams(udp_transport)
-            .history_depth(10).reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS);
-    writer.history_depth(10).reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS);
+            .history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
+    writer.history_depth(10).reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS);
 
     // Set custom reader locator so we can send malicious data to a known location
     Locator_t reader_locator;
diff --git a/test/blackbox/common/DDSBlackboxTestsDataReader.cpp b/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
index 79f9d03cb88..2ecddf57d4a 100644
--- a/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsDataReader.cpp
@@ -101,7 +101,7 @@ TEST_P(DDSDataReader, LivelinessChangedStatusGet)
 
     // Create and start reader that will not invoke listener for liveliness_changed
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
-    reader.liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+    reader.liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .liveliness_lease_duration(lease_duration)
             .deactivate_status_listener(eprosima::fastdds::dds::StatusMask::liveliness_changed());
     reader.init();
@@ -111,7 +111,7 @@ TEST_P(DDSDataReader, LivelinessChangedStatusGet)
     std::unique_ptr<PubSubParticipant<HelloWorldPubSubType>> writers;
     writers.reset(new PubSubParticipant<HelloWorldPubSubType>(num_times, 0, num_times, 0));
     writers->pub_topic_name(TEST_TOPIC_NAME)
-            .pub_liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
+            .pub_liveliness_kind(eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS)
             .pub_liveliness_announcement_period(announcement_period)
             .pub_liveliness_lease_duration(lease_duration);
     ASSERT_TRUE(writers->init_participant());
@@ -374,8 +374,8 @@ TEST(DDSDataReader, ConsistentReliabilityWhenIntraprocess)
     auto publisher = participant->create_publisher( participant->get_default_publisher_qos());
 
     auto writer_qos = eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT;
-    writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
-    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    writer_qos.durability().kind = eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+    writer_qos.reliability().kind = eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
     auto writer = publisher->create_datawriter( topic, writer_qos );
 
     auto data = HelloWorld{};
@@ -386,8 +386,8 @@ TEST(DDSDataReader, ConsistentReliabilityWhenIntraprocess)
     // create a late joiner subscriber and reader
     auto subscriber = participant->create_subscriber( participant->get_default_subscriber_qos());
     auto reader_qos = eprosima::fastdds::dds::DATAREADER_QOS_DEFAULT;
-    reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
-    reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+    reader_qos.durability().kind = eprosima::fastdds::dds::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+    reader_qos.reliability().kind = eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
     auto reader = subscriber->create_datareader( topic, reader_qos );
 
     eprosima::fastdds::dds::SubscriptionMatchedStatus status;
diff --git a/test/blackbox/common/DDSBlackboxTestsDataSharing.cpp b/test/blackbox/common/DDSBlackboxTestsDataSharing.cpp
index 4cd849acdaa..f7e44b809ee 100644
--- a/test/blackbox/common/DDSBlackboxTestsDataSharing.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsDataSharing.cpp
@@ -86,7 +86,7 @@ TEST_P(DDSDataSharing, BasicCommunication)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".").loan_sample_validation()
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(reader.isInitialized());
 
@@ -94,7 +94,7 @@ TEST_P(DDSDataSharing, BasicCommunication)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(writer.isInitialized());
 
@@ -143,7 +143,7 @@ TEST(DDSDataSharing, TransientReader)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(writer.isInitialized());
 
@@ -165,8 +165,8 @@ TEST(DDSDataSharing, TransientReader)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(BEST_EFFORT_RELIABILITY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS).init();
 
     ASSERT_TRUE(reader.isInitialized());
 
@@ -208,7 +208,7 @@ TEST_P(DDSDataSharing, BestEffortDirtyPayloads)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(BEST_EFFORT_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS)
             .resource_limits_extra_samples(1).init();
 
     ASSERT_TRUE(writer.isInitialized());
@@ -217,7 +217,7 @@ TEST_P(DDSDataSharing, BestEffortDirtyPayloads)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(read_reader.isInitialized());
 
@@ -270,7 +270,7 @@ TEST_P(DDSDataSharing, ReliableDirtyPayloads)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .resource_limits_extra_samples(1).init();
 
     ASSERT_TRUE(writer.isInitialized());
@@ -279,7 +279,7 @@ TEST_P(DDSDataSharing, ReliableDirtyPayloads)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(read_reader.isInitialized());
 
@@ -697,7 +697,7 @@ TEST_P(DDSDataSharing, DataSharingDefaultDirectory)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_auto()
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(reader.isInitialized());
 
@@ -705,7 +705,7 @@ TEST_P(DDSDataSharing, DataSharingDefaultDirectory)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_auto()
-            .reliability(BEST_EFFORT_RELIABILITY_QOS).init();
+            .reliability(eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS).init();
 
     ASSERT_TRUE(writer.isInitialized());
 
@@ -741,7 +741,7 @@ TEST(DDSDataSharing, acknack_reception_when_change_removed_by_history)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .lifespan_period({5, 0})
             .init();
 
@@ -751,8 +751,8 @@ TEST(DDSDataSharing, acknack_reception_when_change_removed_by_history)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
             .lifespan_period({0, 10})
             .init();
 
@@ -803,7 +803,7 @@ TEST(DDSDataSharing, acknack_reception_when_get_unread_count_and_change_removed_
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .init();
 
     ASSERT_TRUE(writer.isInitialized());
@@ -813,8 +813,8 @@ TEST(DDSDataSharing, acknack_reception_when_get_unread_count_and_change_removed_
             .disable_builtin_transport()
             .datasharing_on(".")
             .loan_sample_validation()
-            .reliability(RELIABLE_RELIABILITY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
             .init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -877,7 +877,7 @@ TEST(DDSDataSharing, acknack_reception_when_get_unread_count)
             .add_user_transport_to_pparams(testTransport)
             .disable_builtin_transport()
             .datasharing_on(".")
-            .reliability(RELIABLE_RELIABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
             .init();
 
     ASSERT_TRUE(writer.isInitialized());
@@ -887,8 +887,8 @@ TEST(DDSDataSharing, acknack_reception_when_get_unread_count)
             .disable_builtin_transport()
             .datasharing_on(".")
             .loan_sample_validation()
-            .reliability(RELIABLE_RELIABILITY_QOS)
-            .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
+            .reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+            .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
             .init();
 
     ASSERT_TRUE(reader.isInitialized());
diff --git a/test/blackbox/common/DDSBlackboxTestsDataWriter.cpp b/test/blackbox/common/DDSBlackboxTestsDataWriter.cpp
index de16f9a7fad..00e61a6033d 100644
--- a/test/blackbox/common/DDSBlackboxTestsDataWriter.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsDataWriter.cpp
@@ -102,7 +102,7 @@ TEST_P(DDSDataWriter, WaitForAcknowledgmentInstance)
     writer.disable_builtin_transport().add_user_transport_to_pparams(testTransport).init();
     ASSERT_TRUE(writer.isInitialized());
 
-    reader.reliability(RELIABLE_RELIABILITY_QOS).init();
+    reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).init();
     ASSERT_TRUE(reader.isInitialized());
 
     writer.wait_discovery();
@@ -405,14 +405,14 @@ TEST(DDSDataWriter, HeartbeatWhileDestruction)
         // A high number of samples increases the probability of the data race to occur
         size_t n_samples = 1000;
 
-        reader.reliability(RELIABLE_RELIABILITY_QOS)
-                .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
+        reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+                .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
                 .init();
         ASSERT_TRUE(reader.isInitialized());
 
-        writer.reliability(RELIABLE_RELIABILITY_QOS)
-                .durability_kind(TRANSIENT_LOCAL_DURABILITY_QOS)
-                .history_kind(KEEP_LAST_HISTORY_QOS)
+        writer.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS)
+                .durability_kind(eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS)
+                .history_kind(eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS)
                 .history_depth(static_cast<int32_t>(n_samples))
                 .resource_limits_max_samples(static_cast<int32_t>(n_samples))
                 .resource_limits_max_instances(static_cast<int32_t>(1))
diff --git a/test/blackbox/common/DDSBlackboxTestsOwnershipQos.cpp b/test/blackbox/common/DDSBlackboxTestsOwnershipQos.cpp
index 90242a6b1d9..33bae93f6ea 100644
--- a/test/blackbox/common/DDSBlackboxTestsOwnershipQos.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsOwnershipQos.cpp
@@ -84,16 +84,16 @@ void exclusive_kind_non_keyed_sample_reception(
     PubSubWriter<HelloWorldPubSubType> writer3(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -229,19 +229,19 @@ void exclusive_kind_keyed_sample_reception(
     PubSubWriter<KeyedHelloWorldPubSubType> writer4(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer4.ownership_strength(4).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -453,16 +453,16 @@ void exclusive_kind_non_keyed_writers_same_guid(
     PubSubWriter<HelloWorldPubSubType> writer3(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -557,19 +557,19 @@ void exclusive_kind_keyed_writers_same_guid(
     PubSubWriter<KeyedHelloWorldPubSubType> writer4(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer4.ownership_strength(10).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -701,7 +701,9 @@ TEST_P(OwnershipQos, exclusive_kind_non_keyed_reliable_deadline)
     PubSubWriter<HelloWorldPubSubType> writer1(TEST_TOPIC_NAME);
     PubSubWriter<HelloWorldPubSubType> writer2(TEST_TOPIC_NAME);
 
-    reader.ownership_exclusive().reliability(RELIABLE_RELIABILITY_QOS).deadline_period({0, 500000000}).lease_duration(
+    reader.ownership_exclusive().reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).deadline_period({0,
+                                                                                                                500000000})
+            .lease_duration(
         {50, 0}, {3, 0}).init();
     writer1.ownership_strength(1).deadline_period({0, 500000000}).lease_duration({50, 0}, {3, 0}).init();
     writer2.ownership_strength(2).deadline_period({0, 500000000}).lease_duration({50, 0}, {3, 0}).init();
@@ -780,7 +782,9 @@ TEST_P(OwnershipQos, exclusive_kind_keyed_reliable_deadline)
     PubSubWriter<KeyedHelloWorldPubSubType> writer1(TEST_TOPIC_NAME);
     PubSubWriter<KeyedHelloWorldPubSubType> writer2(TEST_TOPIC_NAME);
 
-    reader.ownership_exclusive().reliability(RELIABLE_RELIABILITY_QOS).deadline_period({0, 500000000}).lease_duration(
+    reader.ownership_exclusive().reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).deadline_period({0,
+                                                                                                                500000000})
+            .lease_duration(
         {50, 0}, {3, 0}).init();
     writer1.ownership_strength(1).deadline_period({0, 500000000}).lease_duration({50, 0}, {3, 0}).init();
     writer2.ownership_strength(2).deadline_period({0, 500000000}).lease_duration({50, 0}, {3, 0}).init();
@@ -894,16 +898,16 @@ void exclusive_kind_non_keyed_undiscovered_writer(
     PubSubWriter<HelloWorldPubSubType> writer3(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -1027,19 +1031,19 @@ void exclusive_kind_keyed_undiscovered_writer(
     PubSubWriter<KeyedHelloWorldPubSubType> writer4(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer4.ownership_strength(4).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -1268,24 +1272,24 @@ void exclusive_kind_non_keyed_lost_liveliness(
             };
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .add_user_transport_to_pparams(testTransport1)
             .disable_builtin_transport()
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .add_user_transport_to_pparams(testTransport3)
             .disable_builtin_transport()
@@ -1432,31 +1436,31 @@ void exclusive_kind_keyed_lost_liveliness(
             };
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .add_user_transport_to_pparams(testTransport2)
             .disable_builtin_transport()
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .add_user_transport_to_pparams(testTransport3)
             .disable_builtin_transport()
             .lease_duration({1, 0}, {0, 500000000})
             .init();
     writer4.ownership_strength(4).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         )
             .add_user_transport_to_pparams(testTransport4)
             .disable_builtin_transport()
@@ -1677,19 +1681,19 @@ void exclusive_kind_keyed_unregistering_instance(
     PubSubWriter<KeyedHelloWorldPubSubType> writer4(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer4.ownership_strength(4).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
@@ -1898,19 +1902,19 @@ void exclusive_kind_keyed_disposing_instance(
     PubSubWriter<KeyedHelloWorldPubSubType> writer4(TEST_TOPIC_NAME);
 
     reader.ownership_exclusive().reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer1.ownership_strength(1).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer2.ownership_strength(2).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer3.ownership_strength(3).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
     writer4.ownership_strength(4).reliability(
-        reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS
+        reliable ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS
         ).init();
 
     ASSERT_TRUE(reader.isInitialized());
diff --git a/test/blackbox/common/DDSBlackboxTestsStatistics.cpp b/test/blackbox/common/DDSBlackboxTestsStatistics.cpp
index d3e2f5e9a40..289bce65ee8 100644
--- a/test/blackbox/common/DDSBlackboxTestsStatistics.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsStatistics.cpp
@@ -414,9 +414,9 @@ TEST(DDSStatistics, simple_statistics_datareaders)
     auto depth = static_cast<int32_t>(num_samples);
 
     // Reader should be reliable so ACKNACK messages are generated (and accounted)
-    data_reader.reliability(eprosima::fastdds::RELIABLE_RELIABILITY_QOS).history_depth(depth).init();
+    data_reader.reliability(eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS).history_depth(depth).init();
     // Enforce synchronous writer to force RTPS_SENT to have at least num_samples
-    data_writer.asynchronously(eprosima::fastdds::SYNCHRONOUS_PUBLISH_MODE).history_depth(depth).init();
+    data_writer.asynchronously(eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE).history_depth(depth).init();
 
     // Ensure discovery traffic is not included on statistics
     data_reader.wait_discovery();
diff --git a/test/blackbox/common/DDSBlackboxTestsTransportSHMUDP.cpp b/test/blackbox/common/DDSBlackboxTestsTransportSHMUDP.cpp
index 1d8b235a628..c78164c8e0b 100644
--- a/test/blackbox/common/DDSBlackboxTestsTransportSHMUDP.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsTransportSHMUDP.cpp
@@ -90,10 +90,12 @@ void run_parametrized_test(
         bool reliable_reader)
 {
     // Set test parameters
-    ReliabilityQosPolicyKind writer_reliability =
-            reliable_writer ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS;
-    ReliabilityQosPolicyKind reader_reliability =
-            reliable_reader ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS;
+    eprosima::fastdds::dds::ReliabilityQosPolicyKind writer_reliability =
+            reliable_writer ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::
+                    BEST_EFFORT_RELIABILITY_QOS;
+    eprosima::fastdds::dds::ReliabilityQosPolicyKind reader_reliability =
+            reliable_reader ? eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS : eprosima::fastdds::dds::
+                    BEST_EFFORT_RELIABILITY_QOS;
 
     // Set up
     PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
@@ -108,8 +110,8 @@ void run_parametrized_test(
             .add_user_transport_to_pparams(sub_shm_descriptor)
             .add_user_transport_to_pparams(sub_udp_descriptor)
             .reliability(reader_reliability)
-            .durability_kind(VOLATILE_DURABILITY_QOS)
-            .history_kind(KEEP_ALL_HISTORY_QOS)
+            .durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS)
+            .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
             .init();
     ASSERT_TRUE(reader.isInitialized());
 
@@ -132,9 +134,9 @@ void run_parametrized_test(
             .add_user_transport_to_pparams(pub_shm_descriptor)
             .add_user_transport_to_pparams(pub_udp_descriptor)
             .reliability(writer_reliability)
-            .durability_kind(VOLATILE_DURABILITY_QOS)
-            .history_kind(KEEP_ALL_HISTORY_QOS)
-            .asynchronously(SYNCHRONOUS_PUBLISH_MODE)
+            .durability_kind(eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS)
+            .history_kind(eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS)
+            .asynchronously(eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE)
             .init();
     ASSERT_TRUE(writer.isInitialized());
 
diff --git a/test/mock/rtps/WLP/rtps/builtin/liveliness/WLP.hpp b/test/mock/rtps/WLP/rtps/builtin/liveliness/WLP.hpp
index 5cf84152af8..b4425f4ad8d 100644
--- a/test/mock/rtps/WLP/rtps/builtin/liveliness/WLP.hpp
+++ b/test/mock/rtps/WLP/rtps/builtin/liveliness/WLP.hpp
@@ -62,7 +62,7 @@ class WLP
 
     MOCK_METHOD3(assert_liveliness, bool(
                 GUID_t writer,
-                LivelinessQosPolicyKind kind,
+                dds::LivelinessQosPolicyKind kind,
                 Duration_t lease_duration));
 };
 
diff --git a/test/unittest/common/CustomPayloadPool.hpp b/test/unittest/common/CustomPayloadPool.hpp
index acd57808de8..40f51dab660 100644
--- a/test/unittest/common/CustomPayloadPool.hpp
+++ b/test/unittest/common/CustomPayloadPool.hpp
@@ -16,13 +16,16 @@
  * @file CustomPayloadPool.hpp
  */
 
-#ifndef DDS_CUSTOM_PAYLOAD_POOL_HPP
-#define DDS_CUSTOM_PAYLOAD_POOL_HPP
+#ifndef _FASTDDS_CUSTOM_PAYLOAD_POOL_HPP
+#define _FASTDDS_CUSTOM_PAYLOAD_POOL_HPP
 
-#include <assert.h>
+#include <cassert>
 #include <cstdint>
-#include <stdio.h>
-#include <string.h>
+#include <cstdio>
+#include <cstring>
+
+#include <fastdds/rtps/common/CacheChange.h>
+#include <fastdds/rtps/history/IPayloadPool.h>
 
 class CustomPayloadPool : public eprosima::fastdds::rtps::IPayloadPool
 {
@@ -100,4 +103,4 @@ class CustomPayloadPool : public eprosima::fastdds::rtps::IPayloadPool
 
 };
 
-#endif  // DDS_CUSTOM_PAYLOAD_POOL_HPP
+#endif  // _FASTDDS_CUSTOM_PAYLOAD_POOL_HPP
diff --git a/test/unittest/rtps/DataSharing/SHMSegmentTests.cpp b/test/unittest/rtps/DataSharing/SHMSegmentTests.cpp
index 83fcd1608ed..3901677d7bb 100644
--- a/test/unittest/rtps/DataSharing/SHMSegmentTests.cpp
+++ b/test/unittest/rtps/DataSharing/SHMSegmentTests.cpp
@@ -50,7 +50,7 @@ TEST(SHMSegmentTests, Writer)
     history_attr.maximumReservedCaches = 50;
     WriterHistory* history = new WriterHistory(history_attr);
     WriterAttributes writer_attr;
-    DataSharingQosPolicy dsq;
+    dds::DataSharingQosPolicy dsq;
     // We select a folder to force the use of SharedFileSegment
     dsq.automatic("tmp");
     writer_attr.endpoint.set_data_sharing_configuration(dsq);
diff --git a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
index 7da759bd2c6..5524ff4d0bd 100644
--- a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
+++ b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
@@ -155,7 +155,7 @@ TEST(BuiltinDataSerializationTests, msg_without_datasharing)
 
         ReaderProxyData out(max_unicast_locators, max_multicast_locators);
         out.readFromCDRMessage(&msg, network, false, true);
-        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), dds::OFF);
     }
 
     {
@@ -172,7 +172,7 @@ TEST(BuiltinDataSerializationTests, msg_without_datasharing)
 
         ReaderProxyData out(max_unicast_locators, max_multicast_locators);
         out.readFromCDRMessage(&msg, network, false, true);
-        ASSERT_EQ(out.m_qos.data_sharing.kind(), OFF);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), dds::OFF);
     }
 }
 
@@ -195,7 +195,7 @@ TEST(BuiltinDataSerializationTests, msg_with_datasharing)
 
         ReaderProxyData out(max_unicast_locators, max_multicast_locators);
         out.readFromCDRMessage(&msg, network, false, true);
-        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), dds::ON);
     }
 
     {
@@ -215,7 +215,7 @@ TEST(BuiltinDataSerializationTests, msg_with_datasharing)
 
         ReaderProxyData out(max_unicast_locators, max_multicast_locators);
         out.readFromCDRMessage(&msg, network, false, true);
-        ASSERT_EQ(out.m_qos.data_sharing.kind(), ON);
+        ASSERT_EQ(out.m_qos.data_sharing.kind(), dds::ON);
     }
 }
 
@@ -721,7 +721,7 @@ TEST(BuiltinDataSerializationTests, other_vendor_parameter_list_with_custom_pids
         writer_pdata.m_qos.data_sharing.off();
         writer_pdata.m_qos.data_sharing.set_max_domains(0);
         writer_read(data_buffer, buffer_length, writer_pdata);
-        ASSERT_EQ(writer_pdata.m_qos.data_sharing.kind(), OFF);
+        ASSERT_EQ(writer_pdata.m_qos.data_sharing.kind(), dds::OFF);
 
         // ReaderProxyData check
         ReaderProxyData reader_pdata(max_unicast_locators, max_multicast_locators);
@@ -729,7 +729,7 @@ TEST(BuiltinDataSerializationTests, other_vendor_parameter_list_with_custom_pids
         reader_pdata.m_qos.data_sharing.set_max_domains(0);
         reader_pdata.m_qos.m_disablePositiveACKs.enabled = false;
         reader_read(data_buffer, buffer_length, reader_pdata);
-        ASSERT_EQ(reader_pdata.m_qos.data_sharing.kind(), OFF);
+        ASSERT_EQ(reader_pdata.m_qos.data_sharing.kind(), dds::OFF);
 
         // CacheChange_t check
         CacheChange_t change;
diff --git a/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp b/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp
index 627b8b5525e..cb370da8654 100644
--- a/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp
+++ b/test/unittest/statistics/rtps/RTPSStatisticsTests.cpp
@@ -367,14 +367,14 @@ class RTPSStatisticsTestsImpl
         Wqos.m_durability.durabilityKind(watt.durabilityKind);
         Wqos.m_reliability.kind =
                 RELIABLE ==
-                watt.reliabilityKind ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS;
+                watt.reliabilityKind ? dds::RELIABLE_RELIABILITY_QOS : dds::BEST_EFFORT_RELIABILITY_QOS;
 
         dds::ReaderQos Rqos;
         auto& ratt = writer_->getAttributes();
         Rqos.m_durability.durabilityKind(ratt.durabilityKind);
         Rqos.m_reliability.kind =
                 RELIABLE ==
-                ratt.reliabilityKind ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS;
+                ratt.reliabilityKind ? dds::RELIABLE_RELIABILITY_QOS : dds::BEST_EFFORT_RELIABILITY_QOS;
 
         participant_->registerWriter(writer_, Tatt, Wqos);
         participant_->registerReader(reader_, Tatt, Rqos);
diff --git a/test/unittest/xmlparser/XMLEndpointParserTests.cpp b/test/unittest/xmlparser/XMLEndpointParserTests.cpp
index 8de9dc72d41..c7dc794110f 100644
--- a/test/unittest/xmlparser/XMLEndpointParserTests.cpp
+++ b/test/unittest/xmlparser/XMLEndpointParserTests.cpp
@@ -341,10 +341,10 @@ TEST_F(XMLEndpointParserTests, loadXMLReaderEndpoint)
         EXPECT_EQ(pdata->m_readers[0]->remote_locators().multicast[0],  multi_loc);
 
         // qos
-        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_reliability.kind,  BEST_EFFORT_RELIABILITY_QOS);
-        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_durability.kind,  VOLATILE_DURABILITY_QOS);
-        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_ownership.kind,  SHARED_OWNERSHIP_QOS);
-        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_liveliness.kind,  AUTOMATIC_LIVELINESS_QOS);
+        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_reliability.kind,  dds::BEST_EFFORT_RELIABILITY_QOS);
+        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_durability.kind,  dds::VOLATILE_DURABILITY_QOS);
+        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_ownership.kind,  dds::SHARED_OWNERSHIP_QOS);
+        EXPECT_EQ(pdata->m_readers[0]->m_qos.m_liveliness.kind,  dds::AUTOMATIC_LIVELINESS_QOS);
         EXPECT_TRUE(pdata->m_readers[0]->m_qos.m_disablePositiveACKs.enabled);
 
         // Delete the ReaderProxyData created inside loadXMLParticipantEndpoint
@@ -589,10 +589,10 @@ TEST_F(XMLEndpointParserTests, loadXMLWriterEndpoint)
         EXPECT_EQ(pdata->m_writers[0]->remote_locators().multicast[0],  multi_loc);
 
         // qos
-        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_reliability.kind,  BEST_EFFORT_RELIABILITY_QOS);
-        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_durability.kind,  VOLATILE_DURABILITY_QOS);
-        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_ownership.kind,  SHARED_OWNERSHIP_QOS);
-        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_liveliness.kind,  AUTOMATIC_LIVELINESS_QOS);
+        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_reliability.kind,  dds::BEST_EFFORT_RELIABILITY_QOS);
+        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_durability.kind,  dds::VOLATILE_DURABILITY_QOS);
+        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_ownership.kind,  dds::SHARED_OWNERSHIP_QOS);
+        EXPECT_EQ(pdata->m_writers[0]->m_qos.m_liveliness.kind,  dds::AUTOMATIC_LIVELINESS_QOS);
         EXPECT_TRUE(pdata->m_writers[0]->m_qos.m_disablePositiveACKs.enabled);
         EXPECT_EQ(pdata->m_writers[0]->m_qos.m_disablePositiveACKs.duration.seconds, 300);
         EXPECT_EQ(pdata->m_writers[0]->m_qos.m_disablePositiveACKs.duration.nanosec, 0u);
diff --git a/test/unittest/xmlparser/XMLProfileParserTests.cpp b/test/unittest/xmlparser/XMLProfileParserTests.cpp
index 56a448202d1..48df4fc1132 100644
--- a/test/unittest/xmlparser/XMLProfileParserTests.cpp
+++ b/test/unittest/xmlparser/XMLProfileParserTests.cpp
@@ -860,22 +860,22 @@ TEST_P(XMLProfileParserTests, XMLParserPublisher)
     //EXPECT_EQ(pub_topic.topicKind, NO_KEY);
     //EXPECT_EQ(pub_topic.topicName, "samplePubSubTopic");
     //EXPECT_EQ(pub_topic.topicDataType, "samplePubSubTopicType");
-    EXPECT_EQ(pub_topic.historyQos.kind, KEEP_LAST_HISTORY_QOS);
+    EXPECT_EQ(pub_topic.historyQos.kind, dds::KEEP_LAST_HISTORY_QOS);
     EXPECT_EQ(pub_topic.historyQos.depth, 50);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples, 432);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_instances, 1);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples_per_instance, 100);
     EXPECT_EQ(pub_topic.resourceLimitsQos.allocated_samples, 123);
-    EXPECT_EQ(pub_qos.m_durability.kind, TRANSIENT_LOCAL_DURABILITY_QOS);
-    EXPECT_EQ(pub_qos.m_liveliness.kind, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    EXPECT_EQ(pub_qos.m_durability.kind, dds::TRANSIENT_LOCAL_DURABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_liveliness.kind, dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.seconds, 1);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.nanosec, 2u);
     EXPECT_EQ(pub_qos.m_liveliness.announcement_period, c_TimeInfinite);
-    EXPECT_EQ(pub_qos.m_reliability.kind, BEST_EFFORT_RELIABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_reliability.kind, dds::BEST_EFFORT_RELIABILITY_QOS);
     EXPECT_EQ(pub_qos.m_reliability.max_blocking_time, c_TimeZero);
     EXPECT_EQ(pub_qos.m_partition.names()[0], "partition_name_a");
     EXPECT_EQ(pub_qos.m_partition.names()[1], "partition_name_b");
-    EXPECT_EQ(pub_qos.m_publishMode.kind, ASYNCHRONOUS_PUBLISH_MODE);
+    EXPECT_EQ(pub_qos.m_publishMode.kind, dds::ASYNCHRONOUS_PUBLISH_MODE);
     EXPECT_EQ(pub_qos.m_publishMode.flow_controller_name, "test_flow_controller");
     EXPECT_EQ(pub_times.initialHeartbeatDelay, c_TimeZero);
     EXPECT_EQ(pub_times.heartbeatPeriod.seconds, 11);
@@ -934,22 +934,22 @@ TEST_F(XMLProfileParserBasicTests, XMLParserPublisherDeprecated)
     EXPECT_EQ(pub_topic.topicKind, NO_KEY);
     EXPECT_EQ(pub_topic.topicName, "samplePubSubTopic");
     EXPECT_EQ(pub_topic.topicDataType, "samplePubSubTopicType");
-    EXPECT_EQ(pub_topic.historyQos.kind, KEEP_LAST_HISTORY_QOS);
+    EXPECT_EQ(pub_topic.historyQos.kind, dds::KEEP_LAST_HISTORY_QOS);
     EXPECT_EQ(pub_topic.historyQos.depth, 50);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples, 432);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_instances, 1);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples_per_instance, 100);
     EXPECT_EQ(pub_topic.resourceLimitsQos.allocated_samples, 123);
-    EXPECT_EQ(pub_qos.m_durability.kind, TRANSIENT_LOCAL_DURABILITY_QOS);
-    EXPECT_EQ(pub_qos.m_liveliness.kind, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    EXPECT_EQ(pub_qos.m_durability.kind, dds::TRANSIENT_LOCAL_DURABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_liveliness.kind, dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.seconds, 1);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.nanosec, 2u);
     EXPECT_EQ(pub_qos.m_liveliness.announcement_period, c_TimeInfinite);
-    EXPECT_EQ(pub_qos.m_reliability.kind, BEST_EFFORT_RELIABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_reliability.kind, dds::BEST_EFFORT_RELIABILITY_QOS);
     EXPECT_EQ(pub_qos.m_reliability.max_blocking_time, c_TimeZero);
     EXPECT_EQ(pub_qos.m_partition.names()[0], "partition_name_a");
     EXPECT_EQ(pub_qos.m_partition.names()[1], "partition_name_b");
-    EXPECT_EQ(pub_qos.m_publishMode.kind, ASYNCHRONOUS_PUBLISH_MODE);
+    EXPECT_EQ(pub_qos.m_publishMode.kind, dds::ASYNCHRONOUS_PUBLISH_MODE);
     EXPECT_EQ(pub_qos.m_publishMode.flow_controller_name, "test_flow_controller");
     EXPECT_EQ(pub_times.initialHeartbeatDelay, c_TimeZero);
     EXPECT_EQ(pub_times.heartbeatPeriod.seconds, 11);
@@ -1006,22 +1006,22 @@ TEST_P(XMLProfileParserTests, XMLParserDefaultPublisherProfile)
     //EXPECT_EQ(pub_topic.topicKind, NO_KEY);
     //EXPECT_EQ(pub_topic.topicName, "samplePubSubTopic");
     //EXPECT_EQ(pub_topic.topicDataType, "samplePubSubTopicType");
-    EXPECT_EQ(pub_topic.historyQos.kind, KEEP_LAST_HISTORY_QOS);
+    EXPECT_EQ(pub_topic.historyQos.kind, dds::KEEP_LAST_HISTORY_QOS);
     EXPECT_EQ(pub_topic.historyQos.depth, 50);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples, 432);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_instances, 1);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples_per_instance, 100);
     EXPECT_EQ(pub_topic.resourceLimitsQos.allocated_samples, 123);
-    EXPECT_EQ(pub_qos.m_durability.kind, TRANSIENT_LOCAL_DURABILITY_QOS);
-    EXPECT_EQ(pub_qos.m_liveliness.kind, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    EXPECT_EQ(pub_qos.m_durability.kind, dds::TRANSIENT_LOCAL_DURABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_liveliness.kind, dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.seconds, 1);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.nanosec, 2u);
     EXPECT_EQ(pub_qos.m_liveliness.announcement_period, c_TimeInfinite);
-    EXPECT_EQ(pub_qos.m_reliability.kind, BEST_EFFORT_RELIABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_reliability.kind, dds::BEST_EFFORT_RELIABILITY_QOS);
     EXPECT_EQ(pub_qos.m_reliability.max_blocking_time, c_TimeZero);
     EXPECT_EQ(pub_qos.m_partition.names()[0], "partition_name_a");
     EXPECT_EQ(pub_qos.m_partition.names()[1], "partition_name_b");
-    EXPECT_EQ(pub_qos.m_publishMode.kind, ASYNCHRONOUS_PUBLISH_MODE);
+    EXPECT_EQ(pub_qos.m_publishMode.kind, dds::ASYNCHRONOUS_PUBLISH_MODE);
     EXPECT_EQ(pub_qos.m_publishMode.flow_controller_name, "test_flow_controller");
     EXPECT_EQ(pub_times.initialHeartbeatDelay, c_TimeZero);
     EXPECT_EQ(pub_times.heartbeatPeriod.seconds, 11);
@@ -1078,22 +1078,22 @@ TEST_F(XMLProfileParserBasicTests, XMLParserDefaultPublisherProfileDeprecated)
     EXPECT_EQ(pub_topic.topicKind, NO_KEY);
     EXPECT_EQ(pub_topic.topicName, "samplePubSubTopic");
     EXPECT_EQ(pub_topic.topicDataType, "samplePubSubTopicType");
-    EXPECT_EQ(pub_topic.historyQos.kind, KEEP_LAST_HISTORY_QOS);
+    EXPECT_EQ(pub_topic.historyQos.kind, dds::KEEP_LAST_HISTORY_QOS);
     EXPECT_EQ(pub_topic.historyQos.depth, 50);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples, 432);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_instances, 1);
     EXPECT_EQ(pub_topic.resourceLimitsQos.max_samples_per_instance, 100);
     EXPECT_EQ(pub_topic.resourceLimitsQos.allocated_samples, 123);
-    EXPECT_EQ(pub_qos.m_durability.kind, TRANSIENT_LOCAL_DURABILITY_QOS);
-    EXPECT_EQ(pub_qos.m_liveliness.kind, MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
+    EXPECT_EQ(pub_qos.m_durability.kind, dds::TRANSIENT_LOCAL_DURABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_liveliness.kind, dds::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.seconds, 1);
     EXPECT_EQ(pub_qos.m_liveliness.lease_duration.nanosec, 2u);
     EXPECT_EQ(pub_qos.m_liveliness.announcement_period, c_TimeInfinite);
-    EXPECT_EQ(pub_qos.m_reliability.kind, BEST_EFFORT_RELIABILITY_QOS);
+    EXPECT_EQ(pub_qos.m_reliability.kind, dds::BEST_EFFORT_RELIABILITY_QOS);
     EXPECT_EQ(pub_qos.m_reliability.max_blocking_time, c_TimeZero);
     EXPECT_EQ(pub_qos.m_partition.names()[0], "partition_name_a");
     EXPECT_EQ(pub_qos.m_partition.names()[1], "partition_name_b");
-    EXPECT_EQ(pub_qos.m_publishMode.kind, ASYNCHRONOUS_PUBLISH_MODE);
+    EXPECT_EQ(pub_qos.m_publishMode.kind, dds::ASYNCHRONOUS_PUBLISH_MODE);
     EXPECT_EQ(pub_qos.m_publishMode.flow_controller_name, "test_flow_controller");
     EXPECT_EQ(pub_times.initialHeartbeatDelay, c_TimeZero);
     EXPECT_EQ(pub_times.heartbeatPeriod.seconds, 11);
@@ -1152,18 +1152,18 @@ TEST_P(XMLProfileParserTests, XMLParserSubscriber)
     //EXPECT_EQ(sub_topic.topicKind, WITH_KEY);
     //EXPECT_EQ(sub_topic.topicName, "otherSamplePubSubTopic");
     //EXPECT_EQ(sub_topic.topicDataType, "otherSamplePubSubTopicType");
-    EXPECT_EQ(sub_topic.historyQos.kind, KEEP_ALL_HISTORY_QOS);
+    EXPECT_EQ(sub_topic.historyQos.kind, dds::KEEP_ALL_HISTORY_QOS);
     EXPECT_EQ(sub_topic.historyQos.depth, 1001);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples, 52);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_instances, 25);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples_per_instance, 32);
     EXPECT_EQ(sub_topic.resourceLimitsQos.allocated_samples, 37);
-    EXPECT_EQ(sub_qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
-    EXPECT_EQ(sub_qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(sub_qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.seconds, 11);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.nanosec, 22u);
     EXPECT_EQ(sub_qos.m_liveliness.announcement_period, c_TimeZero);
-    EXPECT_EQ(sub_qos.m_reliability.kind, RELIABLE_RELIABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_reliability.kind, dds::RELIABLE_RELIABILITY_QOS);
     EXPECT_EQ(sub_qos.m_reliability.max_blocking_time, c_TimeInfinite);
     EXPECT_EQ(sub_qos.m_partition.names()[0], "partition_name_c");
     EXPECT_EQ(sub_qos.m_partition.names()[1], "partition_name_d");
@@ -1224,18 +1224,18 @@ TEST_F(XMLProfileParserBasicTests, XMLParserSubscriberDeprecated)
     EXPECT_EQ(sub_topic.topicKind, WITH_KEY);
     EXPECT_EQ(sub_topic.topicName, "otherSamplePubSubTopic");
     EXPECT_EQ(sub_topic.topicDataType, "otherSamplePubSubTopicType");
-    EXPECT_EQ(sub_topic.historyQos.kind, KEEP_ALL_HISTORY_QOS);
+    EXPECT_EQ(sub_topic.historyQos.kind, dds::KEEP_ALL_HISTORY_QOS);
     EXPECT_EQ(sub_topic.historyQos.depth, 1001);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples, 52);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_instances, 25);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples_per_instance, 32);
     EXPECT_EQ(sub_topic.resourceLimitsQos.allocated_samples, 37);
-    EXPECT_EQ(sub_qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
-    EXPECT_EQ(sub_qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(sub_qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.seconds, 11);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.nanosec, 22u);
     EXPECT_EQ(sub_qos.m_liveliness.announcement_period, c_TimeZero);
-    EXPECT_EQ(sub_qos.m_reliability.kind, RELIABLE_RELIABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_reliability.kind, dds::RELIABLE_RELIABILITY_QOS);
     EXPECT_EQ(sub_qos.m_reliability.max_blocking_time, c_TimeInfinite);
     EXPECT_EQ(sub_qos.m_partition.names()[0], "partition_name_c");
     EXPECT_EQ(sub_qos.m_partition.names()[1], "partition_name_d");
@@ -1294,18 +1294,18 @@ TEST_P(XMLProfileParserTests, XMLParserDefaultSubscriberProfile)
     //EXPECT_EQ(sub_topic.topicKind, WITH_KEY);
     //EXPECT_EQ(sub_topic.topicName, "otherSamplePubSubTopic");
     //EXPECT_EQ(sub_topic.topicDataType, "otherSamplePubSubTopicType");
-    EXPECT_EQ(sub_topic.historyQos.kind, KEEP_ALL_HISTORY_QOS);
+    EXPECT_EQ(sub_topic.historyQos.kind, dds::KEEP_ALL_HISTORY_QOS);
     EXPECT_EQ(sub_topic.historyQos.depth, 1001);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples, 52);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_instances, 25);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples_per_instance, 32);
     EXPECT_EQ(sub_topic.resourceLimitsQos.allocated_samples, 37);
-    EXPECT_EQ(sub_qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
-    EXPECT_EQ(sub_qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(sub_qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.seconds, 11);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.nanosec, 22u);
     EXPECT_EQ(sub_qos.m_liveliness.announcement_period, c_TimeZero);
-    EXPECT_EQ(sub_qos.m_reliability.kind, RELIABLE_RELIABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_reliability.kind, dds::RELIABLE_RELIABILITY_QOS);
     EXPECT_EQ(sub_qos.m_reliability.max_blocking_time, c_TimeInfinite);
     EXPECT_EQ(sub_qos.m_partition.names()[0], "partition_name_c");
     EXPECT_EQ(sub_qos.m_partition.names()[1], "partition_name_d");
@@ -1364,18 +1364,18 @@ TEST_F(XMLProfileParserBasicTests, XMLParserDefaultSubscriberProfileDeprecated)
     EXPECT_EQ(sub_topic.topicKind, WITH_KEY);
     EXPECT_EQ(sub_topic.topicName, "otherSamplePubSubTopic");
     EXPECT_EQ(sub_topic.topicDataType, "otherSamplePubSubTopicType");
-    EXPECT_EQ(sub_topic.historyQos.kind, KEEP_ALL_HISTORY_QOS);
+    EXPECT_EQ(sub_topic.historyQos.kind, dds::KEEP_ALL_HISTORY_QOS);
     EXPECT_EQ(sub_topic.historyQos.depth, 1001);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples, 52);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_instances, 25);
     EXPECT_EQ(sub_topic.resourceLimitsQos.max_samples_per_instance, 32);
     EXPECT_EQ(sub_topic.resourceLimitsQos.allocated_samples, 37);
-    EXPECT_EQ(sub_qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
-    EXPECT_EQ(sub_qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(sub_qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.seconds, 11);
     EXPECT_EQ(sub_qos.m_liveliness.lease_duration.nanosec, 22u);
     EXPECT_EQ(sub_qos.m_liveliness.announcement_period, c_TimeZero);
-    EXPECT_EQ(sub_qos.m_reliability.kind, RELIABLE_RELIABILITY_QOS);
+    EXPECT_EQ(sub_qos.m_reliability.kind, dds::RELIABLE_RELIABILITY_QOS);
     EXPECT_EQ(sub_qos.m_reliability.max_blocking_time, c_TimeInfinite);
     EXPECT_EQ(sub_qos.m_partition.names()[0], "partition_name_c");
     EXPECT_EQ(sub_qos.m_partition.names()[1], "partition_name_d");
@@ -1437,11 +1437,11 @@ TEST_F(XMLProfileParserBasicTests, XMLParserRequesterProfile)
 
     EXPECT_EQ(publisher_atts.topic.topicDataType, "request_type");
     EXPECT_EQ(publisher_atts.topic.topicName, "service_name_Request");
-    EXPECT_EQ(publisher_atts.qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(publisher_atts.qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
 
     EXPECT_EQ(subscriber_atts.topic.topicDataType, "reply_type");
     EXPECT_EQ(subscriber_atts.topic.topicName, "service_name_Reply");
-    EXPECT_EQ(subscriber_atts.qos.m_durability.kind, PERSISTENT_DURABILITY_QOS);
+    EXPECT_EQ(subscriber_atts.qos.m_durability.kind, dds::PERSISTENT_DURABILITY_QOS);
 
     // Wrong profile name
     std::string missing_profile = std::string("missing_profile");
@@ -1474,11 +1474,11 @@ TEST_F(XMLProfileParserBasicTests, XMLParserReplierProfile)
 
     EXPECT_EQ(publisher_atts.topic.topicDataType, "reply_type");
     EXPECT_EQ(publisher_atts.topic.topicName, "reply_topic_name");
-    EXPECT_EQ(publisher_atts.qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(publisher_atts.qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
 
     EXPECT_EQ(subscriber_atts.topic.topicDataType, "request_type");
     EXPECT_EQ(subscriber_atts.topic.topicName, "request_topic_name");
-    EXPECT_EQ(subscriber_atts.qos.m_liveliness.kind, MANUAL_BY_TOPIC_LIVELINESS_QOS);
+    EXPECT_EQ(subscriber_atts.qos.m_liveliness.kind, dds::MANUAL_BY_TOPIC_LIVELINESS_QOS);
 
     // Wrong profile name
     std::string missing_profile = std::string("missing_profile");