diff --git a/ddspipe_core/include/ddspipe_core/types/dynamic_types/schema.hpp b/ddspipe_core/include/ddspipe_core/types/dynamic_types/schema.hpp
index 33f05a30..91f115e4 100644
--- a/ddspipe_core/include/ddspipe_core/types/dynamic_types/schema.hpp
+++ b/ddspipe_core/include/ddspipe_core/types/dynamic_types/schema.hpp
@@ -28,7 +28,7 @@ namespace core {
 namespace types {
 
 DDSPIPE_CORE_DllAPI
-std::string generate_ros2_schema(
+std::string generate_idl_schema(
         const fastrtps::types::DynamicType_ptr& dynamic_type);
 
 } /* namespace types */
diff --git a/ddspipe_core/src/cpp/types/dynamic_types/schema.cpp b/ddspipe_core/src/cpp/types/dynamic_types/schema.cpp
index 59e6818f..33394386 100644
--- a/ddspipe_core/src/cpp/types/dynamic_types/schema.cpp
+++ b/ddspipe_core/src/cpp/types/dynamic_types/schema.cpp
@@ -36,24 +36,30 @@ namespace ddspipe {
 namespace core {
 namespace types {
 
-constexpr const char* TYPE_SEPARATOR =
-        "================================================================================\n";
+constexpr const char* TYPE_OPENING =
+        "\n{\n";
+
+constexpr const char* TYPE_CLOSURE =
+        "};\n";
+
+constexpr const char* TAB_SEPARATOR =
+        "    ";
 
 struct TreeNodeType
 {
     TreeNodeType(
             std::string member_name,
             std::string type_kind_name,
-            bool is_struct = false)
+            fastrtps::types::DynamicType_ptr dynamic_type)
         : member_name(member_name)
         , type_kind_name(type_kind_name)
-        , is_struct(is_struct)
+        , dynamic_type(dynamic_type)
     {
     }
 
     std::string member_name;
     std::string type_kind_name;
-    bool is_struct;
+    fastrtps::types::DynamicType_ptr dynamic_type;
 };
 
 // Forward declaration
@@ -66,7 +72,7 @@ fastrtps::types::DynamicType_ptr container_internal_type(
     return dyn_type->get_descriptor()->get_element_type();
 }
 
-std::vector<uint32_t> array_size(
+std::vector<uint32_t> container_size(
         const fastrtps::types::DynamicType_ptr& dyn_type,
         bool unidimensional = true)
 {
@@ -103,34 +109,52 @@ std::vector<std::pair<std::string, fastrtps::types::DynamicType_ptr>> get_member
     return result;
 }
 
-std::string container_kind_to_str(
-        const fastrtps::types::DynamicType_ptr& dyn_type,
-        bool allow_bounded = false)
+std::string array_kind_to_str(
+        const fastrtps::types::DynamicType_ptr& dyn_type)
 {
     auto internal_type = container_internal_type(dyn_type);
-    auto this_array_size = array_size(dyn_type);
+    auto this_array_size = container_size(dyn_type);
 
     std::stringstream ss;
     ss << type_kind_to_str(internal_type);
 
     for (const auto& bound : this_array_size)
+    {
+        ss << "[" << bound << "]";
+    }
+
+    return ss.str();
+}
+
+std::string sequence_kind_to_str(
+        const fastrtps::types::DynamicType_ptr& dyn_type)
+{
+    auto internal_type = container_internal_type(dyn_type);
+    auto this_sequence_size = container_size(dyn_type);
+
+    std::stringstream ss;
+    ss << "sequence<" << type_kind_to_str(internal_type);
+
+    for (const auto& bound : this_sequence_size)
     {
         if (bound != fastrtps::types::BOUND_UNLIMITED)
         {
-            if (allow_bounded)
-            {
-                ss << "[<=" << bound << "]";
-            }
-            else
-            {
-                ss << "[" << bound << "]";
-            }
-        }
-        else
-        {
-            ss << "[]";
+            ss << ", " << bound;
         }
     }
+    ss << ">";
+
+    return ss.str();
+}
+
+std::string map_kind_to_str(
+        const fastrtps::types::DynamicType_ptr& dyn_type)
+{
+    std::stringstream ss;
+
+    auto key_type = dyn_type->get_descriptor()->get_key_element_type();
+    auto value_type = dyn_type->get_descriptor()->get_element_type();
+    ss << "map<" << type_kind_to_str(key_type) << ", " << type_kind_to_str(value_type) << ">";
 
     return ss.str();
 }
@@ -141,60 +165,69 @@ std::string type_kind_to_str(
     switch (dyn_type->get_kind())
     {
         case fastrtps::types::TK_BOOLEAN:
-            return "bool";
+            return "boolean";
 
         case fastrtps::types::TK_BYTE:
-            return "uint8";
+            return "octet";
 
         case fastrtps::types::TK_INT16:
-            return "int16";
+            return "short";
 
         case fastrtps::types::TK_INT32:
-            return "int32";
+            return "long";
 
         case fastrtps::types::TK_INT64:
-            return "int64";
+            return "long long";
 
         case fastrtps::types::TK_UINT16:
-            return "uint16";
+            return "unsigned short";
 
         case fastrtps::types::TK_UINT32:
-            return "uint32";
+            return "unsigned long";
 
         case fastrtps::types::TK_UINT64:
-            return "uint64";
+            return "unsigned long long";
 
         case fastrtps::types::TK_FLOAT32:
-            return "float32";
+            return "float";
 
         case fastrtps::types::TK_FLOAT64:
-            return "float64";
+            return "double";
+
+        case fastrtps::types::TK_FLOAT128:
+            return "long double";
 
         case fastrtps::types::TK_CHAR8:
-            return "int8";
+            return "char";
+
+        case fastrtps::types::TK_CHAR16:
+            return "wchar";
 
         case fastrtps::types::TK_STRING8:
             return "string";
 
+        case fastrtps::types::TK_STRING16:
+            return "wstring";
+
         case fastrtps::types::TK_ARRAY:
-            return container_kind_to_str(dyn_type);
+            return array_kind_to_str(dyn_type);
 
         case fastrtps::types::TK_SEQUENCE:
-            return container_kind_to_str(dyn_type, true);
+            return sequence_kind_to_str(dyn_type);
+
+        case fastrtps::types::TK_MAP:
+            return map_kind_to_str(dyn_type);
 
         case fastrtps::types::TK_STRUCTURE:
+        case fastrtps::types::TK_ENUM:
+        case fastrtps::types::TK_UNION:
             return dyn_type->get_name();
 
-        case fastrtps::types::TK_FLOAT128:
-        case fastrtps::types::TK_CHAR16:
-        case fastrtps::types::TK_STRING16:
-        case fastrtps::types::TK_ENUM:
         case fastrtps::types::TK_BITSET:
-        case fastrtps::types::TK_MAP:
-        case fastrtps::types::TK_UNION:
+        case fastrtps::types::TK_BITMASK:
         case fastrtps::types::TK_NONE:
             throw utils::UnsupportedException(
-                      STR_ENTRY << "Type " << dyn_type->get_name() << " is not supported in ROS2 msg.");
+                      STR_ENTRY << "Type " << dyn_type->get_name() << " is not supported.");
 
         default:
             throw utils::InconsistencyException(
@@ -202,18 +235,6 @@ std::string type_kind_to_str(
     }
 }
 
-bool struct_kind(
-        const fastrtps::types::TypeKind& kind)
-{
-    return kind == fastrtps::types::TK_STRUCTURE;
-}
-
-bool container_kind(
-        const fastrtps::types::TypeKind& kind)
-{
-    return kind == fastrtps::types::TK_ARRAY || kind == fastrtps::types::TK_SEQUENCE;
-}
-
 utils::TreeNode<TreeNodeType> generate_dyn_type_tree(
         const fastrtps::types::DynamicType_ptr& type,
         const std::string& member_name = "PARENT")
@@ -221,62 +242,152 @@ utils::TreeNode<TreeNodeType> generate_dyn_type_tree(
     // Get kind
     fastrtps::types::TypeKind kind = type->get_kind();
 
-    if (container_kind(kind))
+    switch (kind)
     {
-        // If container (array or struct) has exactly one branch
-        // Calculate child branch
-        auto internal_type = container_internal_type(type);
-
-        // Create this node
-        utils::TreeNode<TreeNodeType> container(member_name, type_kind_to_str(type));
-        // Add branch
-        container.add_branch(generate_dyn_type_tree(internal_type, "CONTAINER_MEMBER"));
+        case fastrtps::types::TK_STRUCTURE:
+        {
+            // If is struct, the call is recursive.
+            // Create new tree node
+            utils::TreeNode<TreeNodeType> parent(member_name, type->get_name(), type);
 
-        return container;
-    }
-    else if (struct_kind(kind))
-    {
-        // If is struct, the call is recursive.
-        // Create new tree node
-        utils::TreeNode<TreeNodeType> parent(member_name, type->get_name(), true);
+            // Get all members of this struct
+            std::vector<std::pair<std::string,
+                    fastrtps::types::DynamicType_ptr>> members_by_name = get_members_sorted(type);
 
-        // Get all members of this struct
-        std::vector<std::pair<std::string,
-                fastrtps::types::DynamicType_ptr>> members_by_name = get_members_sorted(type);
+            for (const auto& member : members_by_name)
+            {
+                // Add each member with its name as a new node in a branch (recursion)
+                parent.add_branch(
+                    generate_dyn_type_tree(member.second, member.first));
+            }
+            return parent;
+        }
+        break;
 
-        for (const auto& member : members_by_name)
+        case fastrtps::types::TK_ARRAY:
+        case fastrtps::types::TK_SEQUENCE:
         {
-            // Add each member with its name as a new node in a branch (recursion)
-            parent.add_branch(
-                generate_dyn_type_tree(member.second, member.first));
+            // If container (array or struct) has exactly one branch
+            // Calculate child branch
+            auto internal_type = container_internal_type(type);
+
+            // Create this node
+            utils::TreeNode<TreeNodeType> container(member_name, type_kind_to_str(type), type);
+            // Add branch
+            container.add_branch(generate_dyn_type_tree(internal_type, "CONTAINER_MEMBER"));
+
+            return container;
         }
-        return parent;
-    }
-    else
-    {
-        // It is primitive type, thus add type name and return
-        return utils::TreeNode<TreeNodeType>(member_name, type_kind_to_str(type));
+        break;
+
+        default:
+            return utils::TreeNode<TreeNodeType>(member_name, type_kind_to_str(type), type);
+            break;
     }
 }
 
 std::ostream& node_to_str(
         std::ostream& os,
-        const TreeNodeType& node)
+        const utils::TreeNode<TreeNodeType>& node)
 {
-    os << node.type_kind_name << " " << node.member_name;
+    os << TAB_SEPARATOR;
+
+    if (node.info.dynamic_type->get_kind() == fastrtps::types::TK_ARRAY)
+    {
+        auto dim_pos = node.info.type_kind_name.find("[");
+        auto kind_name_str = node.info.type_kind_name.substr(0, dim_pos);
+        auto dim_str = node.info.type_kind_name.substr(dim_pos, std::string::npos);
+
+        os << kind_name_str << " " << node.info.member_name << dim_str;
+    }
+    else
+    {
+        os << node.info.type_kind_name << " " << node.info.member_name;
+    }
+
     return os;
 }
 
-std::ostream& generate_schema_from_node(
+std::ostream& struct_to_str(
         std::ostream& os,
         const utils::TreeNode<TreeNodeType>& node)
 {
-    // We know for sure this is called from structs
+    // Add types name
+    os << "struct " << node.info.type_kind_name << TYPE_OPENING;
+
+    // Add struct attributes
     for (auto const& child : node.branches())
     {
         node_to_str(os, child.info);
-        os <<  "\n";
+        os << ";\n";
+    }
+
+    // Close definition
+    os << TYPE_CLOSURE;
+
+    return os;
+}
+
+std::ostream& enum_to_str(
+        std::ostream& os,
+        const utils::TreeNode<TreeNodeType>& node)
+{
+    os << "enum " << node.info.type_kind_name << TYPE_OPENING << TAB_SEPARATOR;
+
+    std::map<fastrtps::types::MemberId, fastrtps::types::DynamicTypeMember*> members;
+    node.info.dynamic_type->get_all_members(members);
+    bool first_iter = true;
+    for (const auto& member : members)
+    {
+        if (!first_iter)
+        {
+            os << ",\n" << TAB_SEPARATOR;
+        }
+        first_iter = false;
+
+        os << member.second->get_name();
     }
+
+    // Close definition
+    os << "\n" << TYPE_CLOSURE;
+
+    return os;
+}
+
+std::ostream& union_to_str(
+        std::ostream& os,
+        const utils::TreeNode<TreeNodeType>& node)
+{
+    os << "union " << node.info.type_kind_name << " switch (" << type_kind_to_str(
+        node.info.dynamic_type->get_descriptor()->get_discriminator_type()) << ")" << TYPE_OPENING;
+
+    std::map<fastrtps::types::MemberId, fastrtps::types::DynamicTypeMember*> members;
+    node.info.dynamic_type->get_all_members(members);  // WARNING: Default case not included in this collection, and currently not available
+    for (const auto& member : members)
+    {
+        auto labels = member.second->get_union_labels();  // WARNING: There might be casting issues as discriminant type is currently not taken into consideration
+        bool first_iter = true;
+        for (const auto& label : labels)
+        {
+            if (first_iter)
+            {
+                os << TAB_SEPARATOR;
+            }
+            else
+            {
+                os << " ";
+            }
+            first_iter = false;
+
+            os << "case " << std::to_string(label) << ":";
+        }
+        os << "\n" << TAB_SEPARATOR << TAB_SEPARATOR << type_kind_to_str(member.second->get_descriptor()->get_type()) <<
+            " " << member.second->get_name() << ";\n";
+    }
+
+    // Close definition
+    os << TYPE_CLOSURE;
+
     return os;
 }
 
@@ -287,33 +398,44 @@ std::string generate_dyn_type_schema_from_tree(
 
     std::stringstream ss;
 
-    // Write down main node
-    generate_schema_from_node(ss, parent_node);
-    types_written.insert(parent_node.info.type_kind_name);
-
-    // For every Node, check if it is a struct.
+    // For every Node, check if it is of a "writable" type (i.e. struct, enum or union).
     // If it is, check if it is not yet written
     // If it is not, write it down
     for (const auto& node : parent_node.all_nodes())
     {
-        if (node.info.is_struct && types_written.find(node.info.type_kind_name) == types_written.end())
+        auto kind = node.info.dynamic_type->get_kind();
+        if (types_written.find(node.info.type_kind_name) == types_written.end())
         {
-            // Add types separator
-            ss << TYPE_SEPARATOR;
+            switch (kind)
+            {
+                case fastrtps::types::TK_STRUCTURE:
+                    struct_to_str(ss, node);
+                    break;
 
-            // Add types name
-            ss << "MSG: fastdds/" << node.info.type_kind_name << "\n";
+                case fastrtps::types::TK_ENUM:
+                    enum_to_str(ss, node);
+                    break;
 
-            // Add next type
-            generate_schema_from_node(ss, node);
+                case fastrtps::types::TK_UNION:
+                    union_to_str(ss, node);
+                    break;
+
+                default:
+                    continue;
+            }
+            ss << "\n"; // Introduce blank line between type definitions
             types_written.insert(node.info.type_kind_name);
         }
     }
 
+    // Write struct parent node at last, after all its dependencies
+    // NOTE: not a requirement for Foxglove IDL Parser, dependencies can be placed after parent
+    struct_to_str(ss, parent_node);
+
     return ss.str();
 }
 
-std::string generate_ros2_schema(
+std::string generate_idl_schema(
         const fastrtps::types::DynamicType_ptr& dynamic_type)
 {
     // Generate type tree
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt b/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt
index 1675ad62..d968e0f3 100644
--- a/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt
+++ b/ddspipe_core/test/unittest/types/dynamic_types/CMakeLists.txt
@@ -38,7 +38,7 @@ file(
         RESULT_SOURCES_MSG
     RELATIVE
         "${CMAKE_CURRENT_SOURCE_DIR}"
-    "resources/*.msg")
+    "types/idls/*.idl")
 
 set(TEST_NEEDED_SOURCES
         ${RESULT_SOURCES_MSG}
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/dtypes_tests.cpp b/ddspipe_core/test/unittest/types/dynamic_types/dtypes_tests.cpp
index 47fdc3b8..34c008fa 100644
--- a/ddspipe_core/test/unittest/types/dynamic_types/dtypes_tests.cpp
+++ b/ddspipe_core/test/unittest/types/dynamic_types/dtypes_tests.cpp
@@ -30,7 +30,7 @@ using namespace eprosima;
 
 namespace test {
 
-std::string read_msg_from_file_(
+std::string read_idl_from_file_(
         const std::string& file_name)
 {
     return utils::file_to_string(file_name.c_str());
@@ -39,7 +39,7 @@ std::string read_msg_from_file_(
 std::string file_name_by_type(
         SupportedType type)
 {
-    return std::string("resources/") + to_string(type) + ".msg";
+    return std::string("types/idls/") + to_string(type) + ".idl";
 }
 
 void compare_schemas(
@@ -52,17 +52,17 @@ void compare_schemas(
 void execute_test_by_type(
         SupportedType type)
 {
-    // Get msg file in string with the value expected to be generated in the schema
-    std::string msg_file = read_msg_from_file_(file_name_by_type(type));
+    // Get IDL file in string with the value expected to be generated in the schema
+    std::string idl_file = read_idl_from_file_(file_name_by_type(type));
 
     // Get Dynamic type
     fastrtps::types::DynamicType_ptr dyn_type = get_dynamic_type(type);
 
     // Get schema generated
-    std::string schema = ddspipe::core::types::generate_ros2_schema(dyn_type);
+    std::string schema = ddspipe::core::types::generate_idl_schema(dyn_type);
 
     // Compare schemas
-    compare_schemas(msg_file, schema);
+    compare_schemas(idl_file, schema);
 }
 
 } // namespace test
@@ -95,7 +95,10 @@ INSTANTIATE_TEST_SUITE_P(dtypes_tests, ParametrizedTests, ::testing::Values(
             test::SupportedType::basic_array_struct,
             test::SupportedType::float_bounded_sequence,
             test::SupportedType::arrays_and_sequences,
-            test::SupportedType::complex_nested_arrays
+            test::SupportedType::complex_nested_arrays,
+            test::SupportedType::enum_struct,
+            test::SupportedType::union_struct,
+            test::SupportedType::map_struct
             ));
 
 int main(
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/arrays_and_sequences.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/arrays_and_sequences.msg
deleted file mode 100644
index 1942bc58..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/arrays_and_sequences.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-AnInternalObject[] unlimited_vector
-AnInternalObject[<=10] limited_vector
-AnInternalObject[10] limited_array
-================================================================================
-MSG: fastdds/AnInternalObject
-float32 x
-bool positive
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_array_struct.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_array_struct.msg
deleted file mode 100644
index a012398a..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_array_struct.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-uint32 index
-TheOtherObjectInArray[5] sub_structs
-================================================================================
-MSG: fastdds/TheOtherObjectInArray
-int32 some_num
-bool positive
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_struct.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_struct.msg
deleted file mode 100644
index eb9814cb..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/basic_struct.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-TheOtherObject sub_struct
-================================================================================
-MSG: fastdds/TheOtherObject
-int32 some_num
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/char_sequence.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/char_sequence.msg
deleted file mode 100644
index bf4b2456..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/char_sequence.msg
+++ /dev/null
@@ -1 +0,0 @@
-int8[] chars
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/complex_nested_arrays.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/complex_nested_arrays.msg
deleted file mode 100644
index 0369ad8f..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/complex_nested_arrays.msg
+++ /dev/null
@@ -1,14 +0,0 @@
-FirstLevelElement[3] array_of_elements
-================================================================================
-MSG: fastdds/FirstLevelElement
-string useless_name
-SecondLevelElement[] sub
-ThirdLevelElement an_element_alone
-================================================================================
-MSG: fastdds/ThirdLevelElement
-float64 x
-float64 y
-================================================================================
-MSG: fastdds/SecondLevelElement
-ThirdLevelElement an_element_alone
-ThirdLevelElement[<=1] a_limited_other_value
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/float_bounded_sequence.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/float_bounded_sequence.msg
deleted file mode 100644
index 77503c2e..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/float_bounded_sequence.msg
+++ /dev/null
@@ -1 +0,0 @@
-float32[<=13] numbers
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/hello_world.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/hello_world.msg
deleted file mode 100644
index 63e3fbcb..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/hello_world.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-uint32 index
-string message
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/resources/numeric_array.msg b/ddspipe_core/test/unittest/types/dynamic_types/resources/numeric_array.msg
deleted file mode 100644
index d391c85d..00000000
--- a/ddspipe_core/test/unittest/types/dynamic_types/resources/numeric_array.msg
+++ /dev/null
@@ -1 +0,0 @@
-int32[3] points
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/all_types.hpp b/ddspipe_core/test/unittest/types/dynamic_types/types/all_types.hpp
index 1f34fce2..65fa0566 100644
--- a/ddspipe_core/test/unittest/types/dynamic_types/types/all_types.hpp
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/all_types.hpp
@@ -40,6 +40,9 @@
 #include "type_objects/float_bounded_sequenceTypeObject.h"
 #include "type_objects/arrays_and_sequencesTypeObject.h"
 #include "type_objects/complex_nested_arraysTypeObject.h"
+#include "type_objects/enum_structTypeObject.h"
+#include "type_objects/union_structTypeObject.h"
+#include "type_objects/map_structTypeObject.h"
 
 namespace test {
 
@@ -52,7 +55,10 @@ ENUMERATION_BUILDER(
     basic_array_struct,
     float_bounded_sequence,
     arrays_and_sequences,
-    complex_nested_arrays
+    complex_nested_arrays,
+    enum_struct,
+    union_struct,  // NOTE: default case currently not supported in dynamic types
+    map_struct
     );
 
 eprosima::fastrtps::types::DynamicType_ptr get_dynamic_type(
@@ -66,6 +72,9 @@ eprosima::fastrtps::types::DynamicType_ptr get_dynamic_type(
     registerfloat_bounded_sequenceTypes();
     registerarrays_and_sequencesTypes();
     registercomplex_nested_arraysTypes();
+    registerenum_structTypes();
+    registerunion_structTypes();
+    registermap_structTypes();
 
     auto type_name = to_string(type);
 
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/arrays_and_sequences.idl b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/arrays_and_sequences.idl
index 5fcdd54f..5d9f9819 100644
--- a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/arrays_and_sequences.idl
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/arrays_and_sequences.idl
@@ -1,7 +1,7 @@
 struct AnInternalObject
 {
     float x;
-    bool positive;
+    boolean positive;
 };
 
 struct arrays_and_sequences
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/basic_array_struct.idl b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/basic_array_struct.idl
index 6a5fe61b..b81e5956 100644
--- a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/basic_array_struct.idl
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/basic_array_struct.idl
@@ -1,7 +1,7 @@
 struct TheOtherObjectInArray
 {
     long some_num;
-    bool positive;
+    boolean positive;
 };
 
 struct basic_array_struct
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/enum_struct.idl b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/enum_struct.idl
new file mode 100644
index 00000000..c40eae6e
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/enum_struct.idl
@@ -0,0 +1,12 @@
+enum ColorEnum
+{
+    RED,
+    GREEN,
+    BLUE
+};
+
+struct enum_struct
+{
+    unsigned long index;
+    ColorEnum enum_value;
+};
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/map_struct.idl b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/map_struct.idl
new file mode 100644
index 00000000..d4d19acb
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/map_struct.idl
@@ -0,0 +1,4 @@
+struct map_struct
+{
+    map<string, boolean> my_map;
+};
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/idls/union_struct.idl b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/union_struct.idl
new file mode 100644
index 00000000..3967f961
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/idls/union_struct.idl
@@ -0,0 +1,15 @@
+union MyUnion switch (long)
+{
+    case 1:
+        octet octet_value;
+    case 2:
+        long long_value;
+    case 3:
+        string string_value;
+};
+
+struct union_struct
+{
+    unsigned long index;
+    MyUnion union_value;
+};
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.cxx
new file mode 100644
index 00000000..908a7a0e
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.cxx
@@ -0,0 +1,230 @@
+// 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 enum_struct.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace {
+char dummy;
+}  // namespace
+#endif  // _WIN32
+
+#include "enum_struct.h"
+#include "enum_structTypeObject.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+#define enum_struct_max_cdr_typesize 8ULL;
+
+#define enum_struct_max_key_cdr_typesize 0ULL;
+
+
+
+enum_struct::enum_struct()
+{
+    // unsigned long m_index
+    m_index = 0;
+    // ColorEnum m_enum_value
+    m_enum_value = ::RED;
+
+    // Just to register all known types
+    registerenum_structTypes();
+}
+
+enum_struct::~enum_struct()
+{
+
+
+}
+
+enum_struct::enum_struct(
+        const enum_struct& x)
+{
+    m_index = x.m_index;
+    m_enum_value = x.m_enum_value;
+}
+
+enum_struct::enum_struct(
+        enum_struct&& x) noexcept 
+{
+    m_index = x.m_index;
+    m_enum_value = x.m_enum_value;
+}
+
+enum_struct& enum_struct::operator =(
+        const enum_struct& x)
+{
+
+    m_index = x.m_index;
+    m_enum_value = x.m_enum_value;
+
+    return *this;
+}
+
+enum_struct& enum_struct::operator =(
+        enum_struct&& x) noexcept
+{
+
+    m_index = x.m_index;
+    m_enum_value = x.m_enum_value;
+
+    return *this;
+}
+
+bool enum_struct::operator ==(
+        const enum_struct& x) const
+{
+
+    return (m_index == x.m_index && m_enum_value == x.m_enum_value);
+}
+
+bool enum_struct::operator !=(
+        const enum_struct& x) const
+{
+    return !(*this == x);
+}
+
+size_t enum_struct::getMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return enum_struct_max_cdr_typesize;
+}
+
+size_t enum_struct::getCdrSerializedSize(
+        const enum_struct& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+
+
+    return current_alignment - initial_alignment;
+}
+
+void enum_struct::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+
+    scdr << m_index;
+    scdr << (uint32_t)m_enum_value;
+
+}
+
+void enum_struct::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+
+    dcdr >> m_index;
+    {
+        uint32_t enum_value = 0;
+        dcdr >> enum_value;
+        m_enum_value = (ColorEnum)enum_value;
+    }
+
+}
+
+/*!
+ * @brief This function sets a value in member index
+ * @param _index New value for member index
+ */
+void enum_struct::index(
+        uint32_t _index)
+{
+    m_index = _index;
+}
+
+/*!
+ * @brief This function returns the value of member index
+ * @return Value of member index
+ */
+uint32_t enum_struct::index() const
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function returns a reference to member index
+ * @return Reference to member index
+ */
+uint32_t& enum_struct::index()
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function sets a value in member enum_value
+ * @param _enum_value New value for member enum_value
+ */
+void enum_struct::enum_value(
+        ColorEnum _enum_value)
+{
+    m_enum_value = _enum_value;
+}
+
+/*!
+ * @brief This function returns the value of member enum_value
+ * @return Value of member enum_value
+ */
+ColorEnum enum_struct::enum_value() const
+{
+    return m_enum_value;
+}
+
+/*!
+ * @brief This function returns a reference to member enum_value
+ * @return Reference to member enum_value
+ */
+ColorEnum& enum_struct::enum_value()
+{
+    return m_enum_value;
+}
+
+
+
+size_t enum_struct::getKeyMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return enum_struct_max_key_cdr_typesize;
+}
+
+bool enum_struct::isKeyDefined()
+{
+    return false;
+}
+
+void enum_struct::serializeKey(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    (void) scdr;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.h
new file mode 100644
index 00000000..13c10e1e
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_struct.h
@@ -0,0 +1,240 @@
+// 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 enum_struct.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_ENUM_STRUCT_H_
+#define _FAST_DDS_GENERATED_ENUM_STRUCT_H_
+
+
+#include <fastrtps/utils/fixed_size_string.hpp>
+
+#include <stdint.h>
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(ENUM_STRUCT_SOURCE)
+#define ENUM_STRUCT_DllAPI __declspec( dllexport )
+#else
+#define ENUM_STRUCT_DllAPI __declspec( dllimport )
+#endif // ENUM_STRUCT_SOURCE
+#else
+#define ENUM_STRUCT_DllAPI
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define ENUM_STRUCT_DllAPI
+#endif // _WIN32
+
+namespace eprosima {
+namespace fastcdr {
+class Cdr;
+} // namespace fastcdr
+} // namespace eprosima
+
+
+/*!
+ * @brief This class represents the enumeration ColorEnum defined by the user in the IDL file.
+ * @ingroup enum_struct
+ */
+enum ColorEnum : uint32_t
+{
+    RED,
+    GREEN,
+    BLUE
+};
+/*!
+ * @brief This class represents the structure enum_struct defined by the user in the IDL file.
+ * @ingroup enum_struct
+ */
+class enum_struct
+{
+public:
+
+    /*!
+     * @brief Default constructor.
+     */
+    eProsima_user_DllExport enum_struct();
+
+    /*!
+     * @brief Default destructor.
+     */
+    eProsima_user_DllExport ~enum_struct();
+
+    /*!
+     * @brief Copy constructor.
+     * @param x Reference to the object enum_struct that will be copied.
+     */
+    eProsima_user_DllExport enum_struct(
+            const enum_struct& x);
+
+    /*!
+     * @brief Move constructor.
+     * @param x Reference to the object enum_struct that will be copied.
+     */
+    eProsima_user_DllExport enum_struct(
+            enum_struct&& x) noexcept;
+
+    /*!
+     * @brief Copy assignment.
+     * @param x Reference to the object enum_struct that will be copied.
+     */
+    eProsima_user_DllExport enum_struct& operator =(
+            const enum_struct& x);
+
+    /*!
+     * @brief Move assignment.
+     * @param x Reference to the object enum_struct that will be copied.
+     */
+    eProsima_user_DllExport enum_struct& operator =(
+            enum_struct&& x) noexcept;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x enum_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator ==(
+            const enum_struct& x) const;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x enum_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator !=(
+            const enum_struct& x) const;
+
+    /*!
+     * @brief This function sets a value in member index
+     * @param _index New value for member index
+     */
+    eProsima_user_DllExport void index(
+            uint32_t _index);
+
+    /*!
+     * @brief This function returns the value of member index
+     * @return Value of member index
+     */
+    eProsima_user_DllExport uint32_t index() const;
+
+    /*!
+     * @brief This function returns a reference to member index
+     * @return Reference to member index
+     */
+    eProsima_user_DllExport uint32_t& index();
+
+    /*!
+     * @brief This function sets a value in member enum_value
+     * @param _enum_value New value for member enum_value
+     */
+    eProsima_user_DllExport void enum_value(
+            ColorEnum _enum_value);
+
+    /*!
+     * @brief This function returns the value of member enum_value
+     * @return Value of member enum_value
+     */
+    eProsima_user_DllExport ColorEnum enum_value() const;
+
+    /*!
+     * @brief This function returns a reference to member enum_value
+     * @return Reference to member enum_value
+     */
+    eProsima_user_DllExport ColorEnum& enum_value();
+
+
+    /*!
+    * @brief This function returns the maximum serialized size of an object
+    * depending on the buffer alignment.
+    * @param current_alignment Buffer alignment.
+    * @return Maximum serialized size.
+    */
+    eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function returns the serialized size of a data depending on the buffer alignment.
+     * @param data Data which is calculated its serialized size.
+     * @param current_alignment Buffer alignment.
+     * @return Serialized size.
+     */
+    eProsima_user_DllExport static size_t getCdrSerializedSize(
+            const enum_struct& data,
+            size_t current_alignment = 0);
+
+
+    /*!
+     * @brief This function serializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serialize(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+    /*!
+     * @brief This function deserializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void deserialize(
+            eprosima::fastcdr::Cdr& cdr);
+
+
+
+    /*!
+     * @brief This function returns the maximum serialized size of the Key of an object
+     * depending on the buffer alignment.
+     * @param current_alignment Buffer alignment.
+     * @return Maximum serialized size.
+     */
+    eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function tells you if the Key has been defined for this type
+     */
+    eProsima_user_DllExport static bool isKeyDefined();
+
+    /*!
+     * @brief This function serializes the key members of an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serializeKey(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+private:
+
+    uint32_t m_index;
+    ColorEnum m_enum_value;
+
+};
+
+#endif // _FAST_DDS_GENERATED_ENUM_STRUCT_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.cxx
new file mode 100644
index 00000000..f03142d6
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.cxx
@@ -0,0 +1,171 @@
+// 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 enum_structPubSubTypes.cpp
+ * This header file contains the implementation of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include "enum_structPubSubTypes.h"
+
+using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
+using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
+
+
+enum_structPubSubType::enum_structPubSubType()
+{
+    setName("enum_struct");
+    auto type_size = enum_struct::getMaxCdrSerializedSize();
+    type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
+    m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
+    m_isGetKeyDefined = enum_struct::isKeyDefined();
+    size_t keyLength = enum_struct::getKeyMaxCdrSerializedSize() > 16 ?
+            enum_struct::getKeyMaxCdrSerializedSize() : 16;
+    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
+    memset(m_keyBuffer, 0, keyLength);
+}
+
+enum_structPubSubType::~enum_structPubSubType()
+{
+    if (m_keyBuffer != nullptr)
+    {
+        free(m_keyBuffer);
+    }
+}
+
+bool enum_structPubSubType::serialize(
+        void* data,
+        SerializedPayload_t* payload)
+{
+    enum_struct* p_type = static_cast<enum_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+    try
+    {
+        // Serialize encapsulation
+        ser.serialize_encapsulation();
+        // Serialize the object.
+        p_type->serialize(ser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    // Get the serialized length
+    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
+    return true;
+}
+
+bool enum_structPubSubType::deserialize(
+        SerializedPayload_t* payload,
+        void* data)
+{
+    try
+    {
+        // Convert DATA to pointer of your type
+        enum_struct* p_type = static_cast<enum_struct*>(data);
+
+        // Object that manages the raw buffer.
+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
+
+        // Object that deserializes the data.
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+
+        // Deserialize encapsulation.
+        deser.read_encapsulation();
+        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+        // Deserialize the object.
+        p_type->deserialize(deser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    return true;
+}
+
+std::function<uint32_t()> enum_structPubSubType::getSerializedSizeProvider(
+        void* data)
+{
+    return [data]() -> uint32_t
+           {
+               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<enum_struct*>(data))) +
+                      4u /*encapsulation*/;
+           };
+}
+
+void* enum_structPubSubType::createData()
+{
+    return reinterpret_cast<void*>(new enum_struct());
+}
+
+void enum_structPubSubType::deleteData(
+        void* data)
+{
+    delete(reinterpret_cast<enum_struct*>(data));
+}
+
+bool enum_structPubSubType::getKey(
+        void* data,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!m_isGetKeyDefined)
+    {
+        return false;
+    }
+
+    enum_struct* p_type = static_cast<enum_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+            enum_struct::getKeyMaxCdrSerializedSize());
+
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
+    p_type->serializeKey(ser);
+    if (force_md5 || enum_struct::getKeyMaxCdrSerializedSize() > 16)
+    {
+        m_md5.init();
+        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
+        m_md5.finalize();
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_md5.digest[i];
+        }
+    }
+    else
+    {
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_keyBuffer[i];
+        }
+    }
+    return true;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.h
new file mode 100644
index 00000000..21694418
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structPubSubTypes.h
@@ -0,0 +1,106 @@
+// 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 enum_structPubSubTypes.h
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#ifndef _FAST_DDS_GENERATED_ENUM_STRUCT_PUBSUBTYPES_H_
+#define _FAST_DDS_GENERATED_ENUM_STRUCT_PUBSUBTYPES_H_
+
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastrtps/utils/md5.h>
+
+#include "enum_struct.h"
+
+
+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
+#error \
+    Generated enum_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif  // GEN_API_VER
+
+
+
+/*!
+ * @brief This class represents the TopicDataType of the type enum_struct defined by the user in the IDL file.
+ * @ingroup enum_struct
+ */
+class enum_structPubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef enum_struct type;
+
+    eProsima_user_DllExport enum_structPubSubType();
+
+    eProsima_user_DllExport virtual ~enum_structPubSubType() override;
+
+    eProsima_user_DllExport virtual bool serialize(
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+
+    eProsima_user_DllExport virtual bool deserialize(
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;
+
+    eProsima_user_DllExport virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport virtual void* createData() override;
+
+    eProsima_user_DllExport virtual void deleteData(
+            void* data) override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+    eProsima_user_DllExport inline bool is_plain() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        (void)memory;
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+    MD5 m_md5;
+    unsigned char* m_keyBuffer;
+
+};
+
+#endif // _FAST_DDS_GENERATED_ENUM_STRUCT_PUBSUBTYPES_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.cxx
new file mode 100644
index 00000000..109026e6
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.cxx
@@ -0,0 +1,470 @@
+// 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 enum_structTypeObject.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace { char dummy; }
+#endif
+
+#include "enum_struct.h"
+#include "enum_structTypeObject.h"
+#include <mutex>
+#include <utility>
+#include <sstream>
+#include <fastrtps/rtps/common/SerializedPayload.h>
+#include <fastrtps/utils/md5.h>
+#include <fastrtps/types/TypeObjectFactory.h>
+#include <fastrtps/types/TypeNamesGenerator.h>
+#include <fastrtps/types/AnnotationParameterValue.h>
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+using namespace eprosima::fastrtps::rtps;
+
+void registerenum_structTypes()
+{
+    static std::once_flag once_flag;
+    std::call_once(once_flag, []()
+            {
+                TypeObjectFactory *factory = TypeObjectFactory::get_instance();
+                factory->add_type_object("ColorEnum", GetColorEnumIdentifier(true),
+                GetColorEnumObject(true));
+                factory->add_type_object("ColorEnum", GetColorEnumIdentifier(false),
+                GetColorEnumObject(false));
+
+                factory->add_type_object("enum_struct", Getenum_structIdentifier(true),
+                Getenum_structObject(true));
+                factory->add_type_object("enum_struct", Getenum_structIdentifier(false),
+                Getenum_structObject(false));
+
+            });
+}
+
+const TypeIdentifier* GetColorEnumIdentifier(bool complete)
+{
+    const TypeIdentifier* c_identifier = TypeObjectFactory::get_instance()->get_type_identifier("ColorEnum", complete);
+    if (c_identifier != nullptr && (!complete || c_identifier->_d() == EK_COMPLETE))
+    {
+        return c_identifier;
+    }
+
+    GetColorEnumObject(complete); // Generated inside
+    return TypeObjectFactory::get_instance()->get_type_identifier("ColorEnum", complete);
+}
+
+const TypeObject* GetColorEnumObject(bool complete)
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("ColorEnum", complete);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+    else if (complete)
+    {
+        return GetCompleteColorEnumObject();
+    }
+    // else
+    return GetMinimalColorEnumObject();
+}
+
+const TypeObject* GetMinimalColorEnumObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("ColorEnum", false);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_MINIMAL);
+    type_object->minimal()._d(TK_ENUM);
+
+    // No flags apply
+    //type_object->minimal().enumerated_type().enum_flags().IS_FINAL(false);
+    //type_object->minimal().enumerated_type().enum_flags().IS_APPENDABLE(false);
+    //type_object->minimal().enumerated_type().enum_flags().IS_MUTABLE(false);
+    //type_object->minimal().enumerated_type().enum_flags().IS_NESTED(false);
+    //type_object->minimal().enumerated_type().enum_flags().IS_AUTOID_HASH(false);
+
+    type_object->minimal().enumerated_type().header().common().bit_bound(32); // TODO fixed by IDL, isn't?
+
+    uint32_t value = 0;
+    MinimalEnumeratedLiteral mel_RED;
+    mel_RED.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    mel_RED.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    mel_RED.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    mel_RED.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    mel_RED.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mel_RED.common().flags().IS_KEY(false); // Doesn't apply
+    mel_RED.common().flags().IS_DEFAULT(false);
+    mel_RED.common().value(value++);
+    MD5 RED_hash("RED");
+    for(int i = 0; i < 4; ++i)
+    {
+        mel_RED.detail().name_hash()[i] = RED_hash.digest[i];
+    }
+    type_object->minimal().enumerated_type().literal_seq().emplace_back(mel_RED);
+
+    MinimalEnumeratedLiteral mel_GREEN;
+    mel_GREEN.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    mel_GREEN.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    mel_GREEN.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    mel_GREEN.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    mel_GREEN.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mel_GREEN.common().flags().IS_KEY(false); // Doesn't apply
+    mel_GREEN.common().flags().IS_DEFAULT(false);
+    mel_GREEN.common().value(value++);
+    MD5 GREEN_hash("GREEN");
+    for(int i = 0; i < 4; ++i)
+    {
+        mel_GREEN.detail().name_hash()[i] = GREEN_hash.digest[i];
+    }
+    type_object->minimal().enumerated_type().literal_seq().emplace_back(mel_GREEN);
+
+    MinimalEnumeratedLiteral mel_BLUE;
+    mel_BLUE.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    mel_BLUE.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    mel_BLUE.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    mel_BLUE.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    mel_BLUE.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mel_BLUE.common().flags().IS_KEY(false); // Doesn't apply
+    mel_BLUE.common().flags().IS_DEFAULT(false);
+    mel_BLUE.common().value(value++);
+    MD5 BLUE_hash("BLUE");
+    for(int i = 0; i < 4; ++i)
+    {
+        mel_BLUE.detail().name_hash()[i] = BLUE_hash.digest[i];
+    }
+    type_object->minimal().enumerated_type().literal_seq().emplace_back(mel_BLUE);
+
+
+    TypeIdentifier identifier;
+    identifier._d(EK_MINIMAL);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        MinimalEnumeratedType::getCdrSerializedSize(type_object->minimal().enumerated_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("ColorEnum", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("ColorEnum", false);
+}
+
+const TypeObject* GetCompleteColorEnumObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("ColorEnum", true);
+    if (c_type_object != nullptr && c_type_object->_d() == EK_COMPLETE)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_COMPLETE);
+    type_object->complete()._d(TK_ENUM);
+
+    // No flags apply
+    //type_object->complete().enumerated_type().enum_flags().IS_FINAL(false);
+    //type_object->complete().enumerated_type().enum_flags().IS_APPENDABLE(false);
+    //type_object->complete().enumerated_type().enum_flags().IS_MUTABLE(false);
+    //type_object->complete().enumerated_type().enum_flags().IS_NESTED(false);
+    //type_object->complete().enumerated_type().enum_flags().IS_AUTOID_HASH(false);
+
+    type_object->complete().enumerated_type().header().common().bit_bound(32); // TODO fixed by IDL, isn't?
+    type_object->complete().enumerated_type().header().detail().type_name("ColorEnum");
+
+
+    uint32_t value = 0;
+    CompleteEnumeratedLiteral cel_RED;
+    cel_RED.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    cel_RED.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    cel_RED.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    cel_RED.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    cel_RED.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cel_RED.common().flags().IS_KEY(false); // Doesn't apply
+    cel_RED.common().flags().IS_DEFAULT(false);
+    cel_RED.common().value(value++);
+    cel_RED.detail().name("RED");
+
+    type_object->complete().enumerated_type().literal_seq().emplace_back(cel_RED);
+
+    CompleteEnumeratedLiteral cel_GREEN;
+    cel_GREEN.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    cel_GREEN.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    cel_GREEN.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    cel_GREEN.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    cel_GREEN.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cel_GREEN.common().flags().IS_KEY(false); // Doesn't apply
+    cel_GREEN.common().flags().IS_DEFAULT(false);
+    cel_GREEN.common().value(value++);
+    cel_GREEN.detail().name("GREEN");
+
+    type_object->complete().enumerated_type().literal_seq().emplace_back(cel_GREEN);
+
+    CompleteEnumeratedLiteral cel_BLUE;
+    cel_BLUE.common().flags().TRY_CONSTRUCT1(false); // Doesn't apply
+    cel_BLUE.common().flags().TRY_CONSTRUCT2(false); // Doesn't apply
+    cel_BLUE.common().flags().IS_EXTERNAL(false); // Doesn't apply
+    cel_BLUE.common().flags().IS_OPTIONAL(false); // Doesn't apply
+    cel_BLUE.common().flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cel_BLUE.common().flags().IS_KEY(false); // Doesn't apply
+    cel_BLUE.common().flags().IS_DEFAULT(false);
+    cel_BLUE.common().value(value++);
+    cel_BLUE.detail().name("BLUE");
+
+    type_object->complete().enumerated_type().literal_seq().emplace_back(cel_BLUE);
+
+
+    TypeIdentifier identifier;
+    identifier._d(EK_COMPLETE);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        CompleteEnumeratedType::getCdrSerializedSize(type_object->complete().enumerated_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("ColorEnum", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("ColorEnum", true);
+}
+
+const TypeIdentifier* Getenum_structIdentifier(bool complete)
+{
+    const TypeIdentifier * c_identifier = TypeObjectFactory::get_instance()->get_type_identifier("enum_struct", complete);
+    if (c_identifier != nullptr && (!complete || c_identifier->_d() == EK_COMPLETE))
+    {
+        return c_identifier;
+    }
+
+    Getenum_structObject(complete); // Generated inside
+    return TypeObjectFactory::get_instance()->get_type_identifier("enum_struct", complete);
+}
+
+const TypeObject* Getenum_structObject(bool complete)
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("enum_struct", complete);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+    else if (complete)
+    {
+        return GetCompleteenum_structObject();
+    }
+    //else
+    return GetMinimalenum_structObject();
+}
+
+const TypeObject* GetMinimalenum_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("enum_struct", false);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_MINIMAL);
+    type_object->minimal()._d(TK_STRUCTURE);
+
+    type_object->minimal().struct_type().struct_flags().IS_FINAL(false);
+    type_object->minimal().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_NESTED(false);
+    type_object->minimal().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    MinimalStructMember mst_index;
+    mst_index.common().member_id(memberId++);
+    mst_index.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_index.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_index.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_index.common().member_flags().IS_OPTIONAL(false);
+    mst_index.common().member_flags().IS_MUST_UNDERSTAND(false);
+    mst_index.common().member_flags().IS_KEY(false);
+    mst_index.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    mst_index.common().member_type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint32_t", false));
+
+    MD5 index_hash("index");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_index.detail().name_hash()[i] = index_hash.digest[i];
+    }
+    type_object->minimal().struct_type().member_seq().emplace_back(mst_index);
+
+    MinimalStructMember mst_enum_value;
+    mst_enum_value.common().member_id(memberId++);
+    mst_enum_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_enum_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_enum_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_enum_value.common().member_flags().IS_OPTIONAL(false);
+    mst_enum_value.common().member_flags().IS_MUST_UNDERSTAND(false);
+    mst_enum_value.common().member_flags().IS_KEY(false);
+    mst_enum_value.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    mst_enum_value.common().member_type_id(*GetColorEnumIdentifier(false));
+    MD5 enum_value_hash("enum_value");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_enum_value.detail().name_hash()[i] = enum_value_hash.digest[i];
+    }
+    type_object->minimal().struct_type().member_seq().emplace_back(mst_enum_value);
+
+
+    // Header
+    // TODO Inheritance
+    //type_object->minimal().struct_type().header().base_type()._d(EK_MINIMAL);
+    //type_object->minimal().struct_type().header().base_type().equivalence_hash()[0..13];
+
+    TypeIdentifier identifier;
+    identifier._d(EK_MINIMAL);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        MinimalStructType::getCdrSerializedSize(type_object->minimal().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("enum_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("enum_struct", false);
+}
+
+const TypeObject* GetCompleteenum_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("enum_struct", true);
+    if (c_type_object != nullptr && c_type_object->_d() == EK_COMPLETE)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_COMPLETE);
+    type_object->complete()._d(TK_STRUCTURE);
+
+    type_object->complete().struct_type().struct_flags().IS_FINAL(false);
+    type_object->complete().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_NESTED(false);
+    type_object->complete().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    CompleteStructMember cst_index;
+    cst_index.common().member_id(memberId++);
+    cst_index.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_index.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_index.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_index.common().member_flags().IS_OPTIONAL(false);
+    cst_index.common().member_flags().IS_MUST_UNDERSTAND(false);
+    cst_index.common().member_flags().IS_KEY(false);
+    cst_index.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    cst_index.common().member_type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint32_t", false));
+
+    cst_index.detail().name("index");
+
+    type_object->complete().struct_type().member_seq().emplace_back(cst_index);
+
+    CompleteStructMember cst_enum_value;
+    cst_enum_value.common().member_id(memberId++);
+    cst_enum_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_enum_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_enum_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_enum_value.common().member_flags().IS_OPTIONAL(false);
+    cst_enum_value.common().member_flags().IS_MUST_UNDERSTAND(false);
+    cst_enum_value.common().member_flags().IS_KEY(false);
+    cst_enum_value.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    cst_enum_value.common().member_type_id(*GetColorEnumIdentifier(true));
+    cst_enum_value.detail().name("enum_value");
+
+    type_object->complete().struct_type().member_seq().emplace_back(cst_enum_value);
+
+
+    // Header
+    type_object->complete().struct_type().header().detail().type_name("enum_struct");
+    // TODO inheritance
+
+
+    TypeIdentifier identifier;
+    identifier._d(EK_COMPLETE);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        CompleteStructType::getCdrSerializedSize(type_object->complete().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("enum_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("enum_struct", true);
+}
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.h
new file mode 100644
index 00000000..ba3c63a0
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/enum_structTypeObject.h
@@ -0,0 +1,68 @@
+// 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 enum_structTypeObject.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_ENUM_STRUCT_TYPE_OBJECT_H_
+#define _FAST_DDS_GENERATED_ENUM_STRUCT_TYPE_OBJECT_H_
+
+
+#include <fastrtps/types/TypeObject.h>
+#include <map>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif
+#else
+#define eProsima_user_DllExport
+#endif
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(enum_struct_SOURCE)
+#define enum_struct_DllAPI __declspec( dllexport )
+#else
+#define enum_struct_DllAPI __declspec( dllimport )
+#endif // enum_struct_SOURCE
+#else
+#define enum_struct_DllAPI
+#endif
+#else
+#define enum_struct_DllAPI
+#endif // _WIN32
+
+using namespace eprosima::fastrtps::types;
+
+eProsima_user_DllExport void registerenum_structTypes();
+
+eProsima_user_DllExport const TypeIdentifier* GetColorEnumIdentifier(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetColorEnumObject(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMinimalColorEnumObject();
+eProsima_user_DllExport const TypeObject* GetCompleteColorEnumObject();
+
+eProsima_user_DllExport const TypeIdentifier* Getenum_structIdentifier(bool complete = false);
+eProsima_user_DllExport const TypeObject* Getenum_structObject(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMinimalenum_structObject();
+eProsima_user_DllExport const TypeObject* GetCompleteenum_structObject();
+
+
+#endif // _FAST_DDS_GENERATED_ENUM_STRUCT_TYPE_OBJECT_H_
\ No newline at end of file
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.cxx
new file mode 100644
index 00000000..412bd689
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.cxx
@@ -0,0 +1,195 @@
+// 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 map_struct.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace {
+char dummy;
+}  // namespace
+#endif  // _WIN32
+
+#include "map_struct.h"
+#include "map_structTypeObject.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+#define map_struct_max_cdr_typesize 26401ULL;
+#define map_struct_max_key_cdr_typesize 0ULL;
+
+map_struct::map_struct()
+{
+    // map<string, boolean> m_my_map
+
+
+    // Just to register all known types
+    registermap_structTypes();
+}
+
+map_struct::~map_struct()
+{
+}
+
+map_struct::map_struct(
+        const map_struct& x)
+{
+    m_my_map = x.m_my_map;
+}
+
+map_struct::map_struct(
+        map_struct&& x) noexcept 
+{
+    m_my_map = std::move(x.m_my_map);
+}
+
+map_struct& map_struct::operator =(
+        const map_struct& x)
+{
+
+    m_my_map = x.m_my_map;
+
+    return *this;
+}
+
+map_struct& map_struct::operator =(
+        map_struct&& x) noexcept
+{
+
+    m_my_map = std::move(x.m_my_map);
+
+    return *this;
+}
+
+bool map_struct::operator ==(
+        const map_struct& x) const
+{
+
+    return (m_my_map == x.m_my_map);
+}
+
+bool map_struct::operator !=(
+        const map_struct& x) const
+{
+    return !(*this == x);
+}
+
+size_t map_struct::getMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return map_struct_max_cdr_typesize;
+}
+
+size_t map_struct::getCdrSerializedSize(
+        const map_struct& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+    for(auto a : data.my_map())
+    {
+        (void)a;
+
+            current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + a.first.size() + 1;
+            current_alignment += 1 + eprosima::fastcdr::Cdr::alignment(current_alignment, 1);
+
+    }
+
+    return current_alignment - initial_alignment;
+}
+
+void map_struct::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+
+    scdr << m_my_map;
+}
+
+void map_struct::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+
+    dcdr >> m_my_map;}
+
+/*!
+ * @brief This function copies the value in member my_map
+ * @param _my_map New value to be copied in member my_map
+ */
+void map_struct::my_map(
+        const std::map<std::string, bool>& _my_map)
+{
+    m_my_map = _my_map;
+}
+
+/*!
+ * @brief This function moves the value in member my_map
+ * @param _my_map New value to be moved in member my_map
+ */
+void map_struct::my_map(
+        std::map<std::string, bool>&& _my_map)
+{
+    m_my_map = std::move(_my_map);
+}
+
+/*!
+ * @brief This function returns a constant reference to member my_map
+ * @return Constant reference to member my_map
+ */
+const std::map<std::string, bool>& map_struct::my_map() const
+{
+    return m_my_map;
+}
+
+/*!
+ * @brief This function returns a reference to member my_map
+ * @return Reference to member my_map
+ */
+std::map<std::string, bool>& map_struct::my_map()
+{
+    return m_my_map;
+}
+
+
+size_t map_struct::getKeyMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return map_struct_max_key_cdr_typesize;
+}
+
+bool map_struct::isKeyDefined()
+{
+    return false;
+}
+
+void map_struct::serializeKey(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    (void) scdr;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.h
new file mode 100644
index 00000000..bc84b5fa
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_struct.h
@@ -0,0 +1,216 @@
+// 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 map_struct.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_MAP_STRUCT_H_
+#define _FAST_DDS_GENERATED_MAP_STRUCT_H_
+
+
+#include <fastrtps/utils/fixed_size_string.hpp>
+
+#include <stdint.h>
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(MAP_STRUCT_SOURCE)
+#define MAP_STRUCT_DllAPI __declspec( dllexport )
+#else
+#define MAP_STRUCT_DllAPI __declspec( dllimport )
+#endif // MAP_STRUCT_SOURCE
+#else
+#define MAP_STRUCT_DllAPI
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define MAP_STRUCT_DllAPI
+#endif // _WIN32
+
+namespace eprosima {
+namespace fastcdr {
+class Cdr;
+} // namespace fastcdr
+} // namespace eprosima
+
+
+/*!
+ * @brief This class represents the structure map_struct defined by the user in the IDL file.
+ * @ingroup map_struct
+ */
+class map_struct
+{
+public:
+
+    /*!
+     * @brief Default constructor.
+     */
+    eProsima_user_DllExport map_struct();
+
+    /*!
+     * @brief Default destructor.
+     */
+    eProsima_user_DllExport ~map_struct();
+
+    /*!
+     * @brief Copy constructor.
+     * @param x Reference to the object map_struct that will be copied.
+     */
+    eProsima_user_DllExport map_struct(
+            const map_struct& x);
+
+    /*!
+     * @brief Move constructor.
+     * @param x Reference to the object map_struct that will be copied.
+     */
+    eProsima_user_DllExport map_struct(
+            map_struct&& x) noexcept;
+
+    /*!
+     * @brief Copy assignment.
+     * @param x Reference to the object map_struct that will be copied.
+     */
+    eProsima_user_DllExport map_struct& operator =(
+            const map_struct& x);
+
+    /*!
+     * @brief Move assignment.
+     * @param x Reference to the object map_struct that will be copied.
+     */
+    eProsima_user_DllExport map_struct& operator =(
+            map_struct&& x) noexcept;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x map_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator ==(
+            const map_struct& x) const;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x map_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator !=(
+            const map_struct& x) const;
+
+    /*!
+     * @brief This function copies the value in member my_map
+     * @param _my_map New value to be copied in member my_map
+     */
+    eProsima_user_DllExport void my_map(
+            const std::map<std::string, bool>& _my_map);
+
+    /*!
+     * @brief This function moves the value in member my_map
+     * @param _my_map New value to be moved in member my_map
+     */
+    eProsima_user_DllExport void my_map(
+            std::map<std::string, bool>&& _my_map);
+
+    /*!
+     * @brief This function returns a constant reference to member my_map
+     * @return Constant reference to member my_map
+     */
+    eProsima_user_DllExport const std::map<std::string, bool>& my_map() const;
+
+    /*!
+     * @brief This function returns a reference to member my_map
+     * @return Reference to member my_map
+     */
+    eProsima_user_DllExport std::map<std::string, bool>& my_map();
+
+    /*!
+    * @brief This function returns the maximum serialized size of an object
+    * depending on the buffer alignment.
+    * @param current_alignment Buffer alignment.
+    * @return Maximum serialized size.
+    */
+    eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function returns the serialized size of a data depending on the buffer alignment.
+     * @param data Data which is calculated its serialized size.
+     * @param current_alignment Buffer alignment.
+     * @return Serialized size.
+     */
+    eProsima_user_DllExport static size_t getCdrSerializedSize(
+            const map_struct& data,
+            size_t current_alignment = 0);
+
+
+    /*!
+     * @brief This function serializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serialize(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+    /*!
+     * @brief This function deserializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void deserialize(
+            eprosima::fastcdr::Cdr& cdr);
+
+
+
+    /*!
+     * @brief This function returns the maximum serialized size of the Key of an object
+     * depending on the buffer alignment.
+     * @param current_alignment Buffer alignment.
+     * @return Maximum serialized size.
+     */
+    eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function tells you if the Key has been defined for this type
+     */
+    eProsima_user_DllExport static bool isKeyDefined();
+
+    /*!
+     * @brief This function serializes the key members of an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serializeKey(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+private:
+
+    std::map<std::string, bool> m_my_map;
+
+};
+
+#endif // _FAST_DDS_GENERATED_MAP_STRUCT_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.cxx
new file mode 100644
index 00000000..37bf5b07
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.cxx
@@ -0,0 +1,170 @@
+// 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 map_structPubSubTypes.cpp
+ * This header file contains the implementation of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include "map_structPubSubTypes.h"
+
+using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
+using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
+
+map_structPubSubType::map_structPubSubType()
+{
+    setName("map_struct");
+    auto type_size = map_struct::getMaxCdrSerializedSize();
+    type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
+    m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
+    m_isGetKeyDefined = map_struct::isKeyDefined();
+    size_t keyLength = map_struct::getKeyMaxCdrSerializedSize() > 16 ?
+            map_struct::getKeyMaxCdrSerializedSize() : 16;
+    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
+    memset(m_keyBuffer, 0, keyLength);
+}
+
+map_structPubSubType::~map_structPubSubType()
+{
+    if (m_keyBuffer != nullptr)
+    {
+        free(m_keyBuffer);
+    }
+}
+
+bool map_structPubSubType::serialize(
+        void* data,
+        SerializedPayload_t* payload)
+{
+    map_struct* p_type = static_cast<map_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+    try
+    {
+        // Serialize encapsulation
+        ser.serialize_encapsulation();
+        // Serialize the object.
+        p_type->serialize(ser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    // Get the serialized length
+    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
+    return true;
+}
+
+bool map_structPubSubType::deserialize(
+        SerializedPayload_t* payload,
+        void* data)
+{
+    try
+    {
+        // Convert DATA to pointer of your type
+        map_struct* p_type = static_cast<map_struct*>(data);
+
+        // Object that manages the raw buffer.
+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
+
+        // Object that deserializes the data.
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+
+        // Deserialize encapsulation.
+        deser.read_encapsulation();
+        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+        // Deserialize the object.
+        p_type->deserialize(deser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    return true;
+}
+
+std::function<uint32_t()> map_structPubSubType::getSerializedSizeProvider(
+        void* data)
+{
+    return [data]() -> uint32_t
+           {
+               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<map_struct*>(data))) +
+                      4u /*encapsulation*/;
+           };
+}
+
+void* map_structPubSubType::createData()
+{
+    return reinterpret_cast<void*>(new map_struct());
+}
+
+void map_structPubSubType::deleteData(
+        void* data)
+{
+    delete(reinterpret_cast<map_struct*>(data));
+}
+
+bool map_structPubSubType::getKey(
+        void* data,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!m_isGetKeyDefined)
+    {
+        return false;
+    }
+
+    map_struct* p_type = static_cast<map_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+            map_struct::getKeyMaxCdrSerializedSize());
+
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
+    p_type->serializeKey(ser);
+    if (force_md5 || map_struct::getKeyMaxCdrSerializedSize() > 16)
+    {
+        m_md5.init();
+        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
+        m_md5.finalize();
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_md5.digest[i];
+        }
+    }
+    else
+    {
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_keyBuffer[i];
+        }
+    }
+    return true;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.h
new file mode 100644
index 00000000..82e89a7f
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structPubSubTypes.h
@@ -0,0 +1,105 @@
+// 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 map_structPubSubTypes.h
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#ifndef _FAST_DDS_GENERATED_MAP_STRUCT_PUBSUBTYPES_H_
+#define _FAST_DDS_GENERATED_MAP_STRUCT_PUBSUBTYPES_H_
+
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastrtps/utils/md5.h>
+
+#include "map_struct.h"
+
+
+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
+#error \
+    Generated map_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif  // GEN_API_VER
+
+
+/*!
+ * @brief This class represents the TopicDataType of the type map_struct defined by the user in the IDL file.
+ * @ingroup map_struct
+ */
+class map_structPubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef map_struct type;
+
+    eProsima_user_DllExport map_structPubSubType();
+
+    eProsima_user_DllExport virtual ~map_structPubSubType() override;
+
+    eProsima_user_DllExport virtual bool serialize(
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+
+    eProsima_user_DllExport virtual bool deserialize(
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;
+
+    eProsima_user_DllExport virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport virtual void* createData() override;
+
+    eProsima_user_DllExport virtual void deleteData(
+            void* data) override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+    eProsima_user_DllExport inline bool is_plain() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        (void)memory;
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+    MD5 m_md5;
+    unsigned char* m_keyBuffer;
+
+};
+
+#endif // _FAST_DDS_GENERATED_MAP_STRUCT_PUBSUBTYPES_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.cxx
new file mode 100644
index 00000000..397ce137
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.cxx
@@ -0,0 +1,220 @@
+// 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 map_structTypeObject.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace { char dummy; }
+#endif
+
+#include "map_struct.h"
+#include "map_structTypeObject.h"
+#include <mutex>
+#include <utility>
+#include <sstream>
+#include <fastrtps/rtps/common/SerializedPayload.h>
+#include <fastrtps/utils/md5.h>
+#include <fastrtps/types/TypeObjectFactory.h>
+#include <fastrtps/types/TypeNamesGenerator.h>
+#include <fastrtps/types/AnnotationParameterValue.h>
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+using namespace eprosima::fastrtps::rtps;
+
+void registermap_structTypes()
+{
+    static std::once_flag once_flag;
+    std::call_once(once_flag, []()
+            {
+                TypeObjectFactory *factory = TypeObjectFactory::get_instance();
+                factory->add_type_object("map_struct", Getmap_structIdentifier(true),
+                Getmap_structObject(true));
+                factory->add_type_object("map_struct", Getmap_structIdentifier(false),
+                Getmap_structObject(false));
+
+            });
+}
+
+const TypeIdentifier* Getmap_structIdentifier(bool complete)
+{
+    const TypeIdentifier * c_identifier = TypeObjectFactory::get_instance()->get_type_identifier("map_struct", complete);
+    if (c_identifier != nullptr && (!complete || c_identifier->_d() == EK_COMPLETE))
+    {
+        return c_identifier;
+    }
+
+    Getmap_structObject(complete); // Generated inside
+    return TypeObjectFactory::get_instance()->get_type_identifier("map_struct", complete);
+}
+
+const TypeObject* Getmap_structObject(bool complete)
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("map_struct", complete);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+    else if (complete)
+    {
+        return GetCompletemap_structObject();
+    }
+    //else
+    return GetMinimalmap_structObject();
+}
+
+const TypeObject* GetMinimalmap_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("map_struct", false);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_MINIMAL);
+    type_object->minimal()._d(TK_STRUCTURE);
+
+    type_object->minimal().struct_type().struct_flags().IS_FINAL(false);
+    type_object->minimal().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_NESTED(false);
+    type_object->minimal().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    MinimalStructMember mst_my_map;
+    mst_my_map.common().member_id(memberId++);
+    mst_my_map.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_my_map.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_my_map.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_my_map.common().member_flags().IS_OPTIONAL(false);
+    mst_my_map.common().member_flags().IS_MUST_UNDERSTAND(false);
+    mst_my_map.common().member_flags().IS_KEY(false);
+    mst_my_map.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    mst_my_map.common().member_type_id(*TypeObjectFactory::get_instance()->get_map_identifier(TypeNamesGenerator::get_string_type_name(255, false), "bool", 100, false));
+
+
+    MD5 my_map_hash("my_map");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_my_map.detail().name_hash()[i] = my_map_hash.digest[i];
+    }
+    type_object->minimal().struct_type().member_seq().emplace_back(mst_my_map);
+
+
+    // Header
+    // TODO Inheritance
+    //type_object->minimal().struct_type().header().base_type()._d(EK_MINIMAL);
+    //type_object->minimal().struct_type().header().base_type().equivalence_hash()[0..13];
+
+    TypeIdentifier identifier;
+    identifier._d(EK_MINIMAL);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        MinimalStructType::getCdrSerializedSize(type_object->minimal().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("map_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("map_struct", false);
+}
+
+const TypeObject* GetCompletemap_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("map_struct", true);
+    if (c_type_object != nullptr && c_type_object->_d() == EK_COMPLETE)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_COMPLETE);
+    type_object->complete()._d(TK_STRUCTURE);
+
+    type_object->complete().struct_type().struct_flags().IS_FINAL(false);
+    type_object->complete().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_NESTED(false);
+    type_object->complete().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    CompleteStructMember cst_my_map;
+    cst_my_map.common().member_id(memberId++);
+    cst_my_map.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_my_map.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_my_map.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_my_map.common().member_flags().IS_OPTIONAL(false);
+    cst_my_map.common().member_flags().IS_MUST_UNDERSTAND(false);
+    cst_my_map.common().member_flags().IS_KEY(false);
+    cst_my_map.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    cst_my_map.common().member_type_id(*TypeObjectFactory::get_instance()->get_map_identifier(TypeNamesGenerator::get_string_type_name(255, false), "bool", 100, true));
+
+
+    cst_my_map.detail().name("my_map");
+
+    type_object->complete().struct_type().member_seq().emplace_back(cst_my_map);
+
+
+    // Header
+    type_object->complete().struct_type().header().detail().type_name("map_struct");
+    // TODO inheritance
+
+
+    TypeIdentifier identifier;
+    identifier._d(EK_COMPLETE);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        CompleteStructType::getCdrSerializedSize(type_object->complete().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("map_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("map_struct", true);
+}
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.h
new file mode 100644
index 00000000..80e03173
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/map_structTypeObject.h
@@ -0,0 +1,63 @@
+// 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 map_structTypeObject.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_MAP_STRUCT_TYPE_OBJECT_H_
+#define _FAST_DDS_GENERATED_MAP_STRUCT_TYPE_OBJECT_H_
+
+
+#include <fastrtps/types/TypeObject.h>
+#include <map>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif
+#else
+#define eProsima_user_DllExport
+#endif
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(map_struct_SOURCE)
+#define map_struct_DllAPI __declspec( dllexport )
+#else
+#define map_struct_DllAPI __declspec( dllimport )
+#endif // map_struct_SOURCE
+#else
+#define map_struct_DllAPI
+#endif
+#else
+#define map_struct_DllAPI
+#endif // _WIN32
+
+using namespace eprosima::fastrtps::types;
+
+eProsima_user_DllExport void registermap_structTypes();
+
+eProsima_user_DllExport const TypeIdentifier* Getmap_structIdentifier(bool complete = false);
+eProsima_user_DllExport const TypeObject* Getmap_structObject(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMinimalmap_structObject();
+eProsima_user_DllExport const TypeObject* GetCompletemap_structObject();
+
+
+#endif // _FAST_DDS_GENERATED_MAP_STRUCT_TYPE_OBJECT_H_
\ No newline at end of file
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.cxx
new file mode 100644
index 00000000..ab7c818a
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.cxx
@@ -0,0 +1,643 @@
+// 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 union_struct.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace {
+char dummy;
+}  // namespace
+#endif  // _WIN32
+
+#include "union_struct.h"
+#include "union_structTypeObject.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+#define union_struct_max_cdr_typesize 268ULL;
+
+#define union_struct_max_key_cdr_typesize 0ULL;
+
+
+MyUnion::MyUnion()
+{
+    m__d = 1;
+    // octet m_octet_value
+    m_octet_value = 0;
+    // long m_long_value
+    m_long_value = 0;
+    // string m_string_value
+    m_string_value ="";
+}
+
+MyUnion::~MyUnion()
+{
+}
+
+MyUnion::MyUnion(
+        const MyUnion& x)
+{
+    m__d = x.m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        m_octet_value = x.m_octet_value;
+        break;
+        case 2:
+        m_long_value = x.m_long_value;
+        break;
+        case 3:
+        m_string_value = x.m_string_value;
+        break;
+        default:
+        break;
+    }
+}
+
+MyUnion::MyUnion(
+        MyUnion&& x) noexcept
+{
+    m__d = x.m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        m_octet_value = x.m_octet_value;
+        break;
+        case 2:
+        m_long_value = x.m_long_value;
+        break;
+        case 3:
+        m_string_value = std::move(x.m_string_value);
+        break;
+        default:
+        break;
+    }
+}
+
+MyUnion& MyUnion::operator =(
+        const MyUnion& x)
+{
+    m__d = x.m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        m_octet_value = x.m_octet_value;
+        break;
+        case 2:
+        m_long_value = x.m_long_value;
+        break;
+        case 3:
+        m_string_value = x.m_string_value;
+        break;
+        default:
+        break;
+    }
+
+    return *this;
+}
+
+MyUnion& MyUnion::operator =(
+        MyUnion&& x) noexcept
+{
+    m__d = x.m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        m_octet_value = x.m_octet_value;
+        break;
+        case 2:
+        m_long_value = x.m_long_value;
+        break;
+        case 3:
+        m_string_value = std::move(x.m_string_value);
+        break;
+        default:
+        break;
+    }
+
+    return *this;
+}
+
+bool MyUnion::operator ==(
+        const MyUnion& x) const
+{
+    if (m__d != x.m__d)
+    {
+        return false;
+    }
+
+    switch(m__d)
+    {
+        case 1:
+            return (m_octet_value == x.m_octet_value);
+            break;
+        case 2:
+            return (m_long_value == x.m_long_value);
+            break;
+        case 3:
+            return (m_string_value == x.m_string_value);
+            break;
+        default:
+        break;
+    }
+    return false;
+}
+
+bool MyUnion::operator !=(
+        const MyUnion& x) const
+{
+    return !(*this == x);
+}
+
+void MyUnion::_d(
+        int32_t __d)
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 1:
+        switch(__d)
+        {
+            case 1:
+            b = true;
+            break;
+            default:
+            break;
+        }
+        break;
+        case 2:
+        switch(__d)
+        {
+            case 2:
+            b = true;
+            break;
+            default:
+            break;
+        }
+        break;
+        case 3:
+        switch(__d)
+        {
+            case 3:
+            b = true;
+            break;
+            default:
+            break;
+        }
+        break;
+    }
+
+    if(!b)
+    {
+        throw BadParamException("Discriminator doesn't correspond with the selected union member");
+    }
+
+    m__d = __d;
+}
+
+int32_t MyUnion::_d() const
+{
+    return m__d;
+}
+
+int32_t& MyUnion::_d()
+{
+    return m__d;
+}
+
+void MyUnion::octet_value(
+        uint8_t _octet_value)
+{
+    m_octet_value = _octet_value;
+    m__d = 1;
+}
+
+uint8_t MyUnion::octet_value() const
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 1:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_octet_value;
+}
+
+uint8_t& MyUnion::octet_value()
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 1:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_octet_value;
+}
+void MyUnion::long_value(
+        int32_t _long_value)
+{
+    m_long_value = _long_value;
+    m__d = 2;
+}
+
+int32_t MyUnion::long_value() const
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 2:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_long_value;
+}
+
+int32_t& MyUnion::long_value()
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 2:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_long_value;
+}
+void MyUnion::string_value(
+        const std::string& _string_value)
+{
+    m_string_value = _string_value;
+    m__d = 3;
+}
+
+void MyUnion::string_value(
+        std::string&& _string_value)
+{
+    m_string_value = std::move(_string_value);
+    m__d = 3;
+}
+
+const std::string& MyUnion::string_value() const
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 3:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_string_value;
+}
+
+std::string& MyUnion::string_value()
+{
+    bool b = false;
+
+    switch(m__d)
+    {
+        case 3:
+        b = true;
+        break;
+        default:
+        break;
+    }
+    if(!b)
+    {
+        throw BadParamException("This member is not been selected");
+    }
+
+    return m_string_value;
+}
+
+// TODO(Ricardo) Review
+size_t MyUnion::getCdrSerializedSize(
+        const MyUnion& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+    switch(data.m__d)
+    {
+        case 1:
+        current_alignment += 1 + eprosima::fastcdr::Cdr::alignment(current_alignment, 1);
+
+        break;
+        case 2:
+        current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+        break;
+        case 3:
+        current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.string_value().size() + 1;
+        break;
+        default:
+        break;
+    }
+
+    return current_alignment - initial_alignment;
+}
+
+void MyUnion::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    scdr << m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        scdr << m_octet_value;
+
+        break;
+        case 2:
+        scdr << m_long_value;
+
+        break;
+        case 3:
+        scdr << m_string_value.c_str();
+
+        break;
+        default:
+        break;
+    }
+}
+
+void MyUnion::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+    dcdr >> m__d;
+
+    switch(m__d)
+    {
+        case 1:
+        dcdr >> m_octet_value;
+        break;
+        case 2:
+        dcdr >> m_long_value;
+        break;
+        case 3:
+        dcdr >> m_string_value;break;
+        default:
+        break;
+    }
+}
+
+
+union_struct::union_struct()
+{
+    // unsigned long m_index
+    m_index = 0;
+    // MyUnion m_union_value
+
+
+    // Just to register all known types
+    registerunion_structTypes();
+}
+
+union_struct::~union_struct()
+{
+
+
+}
+
+union_struct::union_struct(
+        const union_struct& x)
+{
+    m_index = x.m_index;
+    m_union_value = x.m_union_value;
+}
+
+union_struct::union_struct(
+        union_struct&& x) noexcept 
+{
+    m_index = x.m_index;
+    m_union_value = std::move(x.m_union_value);
+}
+
+union_struct& union_struct::operator =(
+        const union_struct& x)
+{
+
+    m_index = x.m_index;
+    m_union_value = x.m_union_value;
+
+    return *this;
+}
+
+union_struct& union_struct::operator =(
+        union_struct&& x) noexcept
+{
+
+    m_index = x.m_index;
+    m_union_value = std::move(x.m_union_value);
+
+    return *this;
+}
+
+bool union_struct::operator ==(
+        const union_struct& x) const
+{
+
+    return (m_index == x.m_index && m_union_value == x.m_union_value);
+}
+
+bool union_struct::operator !=(
+        const union_struct& x) const
+{
+    return !(*this == x);
+}
+
+size_t union_struct::getMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return union_struct_max_cdr_typesize;
+}
+
+size_t union_struct::getCdrSerializedSize(
+        const union_struct& data,
+        size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+
+    current_alignment += MyUnion::getCdrSerializedSize(data.union_value(), current_alignment);
+
+    return current_alignment - initial_alignment;
+}
+
+void union_struct::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+
+    scdr << m_index;
+    scdr << m_union_value;
+
+}
+
+void union_struct::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+
+    dcdr >> m_index;
+    dcdr >> m_union_value;
+}
+
+/*!
+ * @brief This function sets a value in member index
+ * @param _index New value for member index
+ */
+void union_struct::index(
+        uint32_t _index)
+{
+    m_index = _index;
+}
+
+/*!
+ * @brief This function returns the value of member index
+ * @return Value of member index
+ */
+uint32_t union_struct::index() const
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function returns a reference to member index
+ * @return Reference to member index
+ */
+uint32_t& union_struct::index()
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function copies the value in member union_value
+ * @param _union_value New value to be copied in member union_value
+ */
+void union_struct::union_value(
+        const MyUnion& _union_value)
+{
+    m_union_value = _union_value;
+}
+
+/*!
+ * @brief This function moves the value in member union_value
+ * @param _union_value New value to be moved in member union_value
+ */
+void union_struct::union_value(
+        MyUnion&& _union_value)
+{
+    m_union_value = std::move(_union_value);
+}
+
+/*!
+ * @brief This function returns a constant reference to member union_value
+ * @return Constant reference to member union_value
+ */
+const MyUnion& union_struct::union_value() const
+{
+    return m_union_value;
+}
+
+/*!
+ * @brief This function returns a reference to member union_value
+ * @return Reference to member union_value
+ */
+MyUnion& union_struct::union_value()
+{
+    return m_union_value;
+}
+
+
+size_t union_struct::getKeyMaxCdrSerializedSize(
+        size_t current_alignment)
+{
+    static_cast<void>(current_alignment);
+    return union_struct_max_key_cdr_typesize;
+}
+
+bool union_struct::isKeyDefined()
+{
+    return false;
+}
+
+void union_struct::serializeKey(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    (void) scdr;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.h
new file mode 100644
index 00000000..b722de2c
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_struct.h
@@ -0,0 +1,422 @@
+// 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 union_struct.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_UNION_STRUCT_H_
+#define _FAST_DDS_GENERATED_UNION_STRUCT_H_
+
+
+#include <fastrtps/utils/fixed_size_string.hpp>
+
+#include <stdint.h>
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(UNION_STRUCT_SOURCE)
+#define UNION_STRUCT_DllAPI __declspec( dllexport )
+#else
+#define UNION_STRUCT_DllAPI __declspec( dllimport )
+#endif // UNION_STRUCT_SOURCE
+#else
+#define UNION_STRUCT_DllAPI
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define UNION_STRUCT_DllAPI
+#endif // _WIN32
+
+namespace eprosima {
+namespace fastcdr {
+class Cdr;
+} // namespace fastcdr
+} // namespace eprosima
+
+
+/*!
+ * @brief This class represents the union MyUnion defined by the user in the IDL file.
+ * @ingroup union_struct
+ */
+class MyUnion
+{
+public:
+
+    /*!
+     * @brief Default constructor.
+     */
+    eProsima_user_DllExport MyUnion();
+
+    /*!
+     * @brief Default destructor.
+     */
+    eProsima_user_DllExport ~MyUnion();
+
+    /*!
+     * @brief Copy constructor.
+     * @param x Reference to the object MyUnion that will be copied.
+     */
+    eProsima_user_DllExport MyUnion(
+            const MyUnion& x);
+
+    /*!
+     * @brief Move constructor.
+     * @param x Reference to the object MyUnion that will be copied.
+     */
+    eProsima_user_DllExport MyUnion(
+            MyUnion&& x) noexcept;
+
+    /*!
+     * @brief Copy assignment.
+     * @param x Reference to the object MyUnion that will be copied.
+     */
+    eProsima_user_DllExport MyUnion& operator =(
+            const MyUnion& x);
+
+    /*!
+     * @brief Move assignment.
+     * @param x Reference to the object MyUnion that will be copied.
+     */
+    eProsima_user_DllExport MyUnion& operator =(
+            MyUnion&& x) noexcept;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x MyUnion object to compare.
+     */
+    eProsima_user_DllExport bool operator ==(
+            const MyUnion& x) const;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x MyUnion object to compare.
+     */
+    eProsima_user_DllExport bool operator !=(
+            const MyUnion& x) const;
+
+    /*!
+     * @brief This function sets the discriminator value.
+     * @param __d New value for the discriminator.
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the new value doesn't correspond to the selected union member.
+     */
+    eProsima_user_DllExport void _d(
+            int32_t __d);
+
+    /*!
+     * @brief This function returns the value of the discriminator.
+     * @return Value of the discriminator
+     */
+    eProsima_user_DllExport int32_t _d() const;
+
+    /*!
+     * @brief This function returns a reference to the discriminator.
+     * @return Reference to the discriminator.
+     */
+    eProsima_user_DllExport int32_t& _d();
+
+    /*!
+     * @brief This function sets a value in member octet_value
+     * @param _octet_value New value for member octet_value
+     */
+    eProsima_user_DllExport void octet_value(
+            uint8_t _octet_value);
+
+    /*!
+     * @brief This function returns the value of member octet_value
+     * @return Value of member octet_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport uint8_t octet_value() const;
+
+    /*!
+     * @brief This function returns a reference to member octet_value
+     * @return Reference to member octet_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport uint8_t& octet_value();
+
+    /*!
+     * @brief This function sets a value in member long_value
+     * @param _long_value New value for member long_value
+     */
+    eProsima_user_DllExport void long_value(
+            int32_t _long_value);
+
+    /*!
+     * @brief This function returns the value of member long_value
+     * @return Value of member long_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport int32_t long_value() const;
+
+    /*!
+     * @brief This function returns a reference to member long_value
+     * @return Reference to member long_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport int32_t& long_value();
+
+    /*!
+     * @brief This function copies the value in member string_value
+     * @param _string_value New value to be copied in member string_value
+     */
+    eProsima_user_DllExport void string_value(
+            const std::string& _string_value);
+
+    /*!
+     * @brief This function moves the value in member string_value
+     * @param _string_value New value to be moved in member string_value
+     */
+    eProsima_user_DllExport void string_value(
+            std::string&& _string_value);
+
+    /*!
+     * @brief This function returns a constant reference to member string_value
+     * @return Constant reference to member string_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport const std::string& string_value() const;
+
+    /*!
+     * @brief This function returns a reference to member string_value
+     * @return Reference to member string_value
+     * @exception eprosima::fastcdr::BadParamException This exception is thrown if the requested union member is not the current selection.
+     */
+    eProsima_user_DllExport std::string& string_value();
+
+    /*!
+     * @brief This function returns the serialized size of a data depending on the buffer alignment.
+     * @param data Data which is calculated its serialized size.
+     * @param current_alignment Buffer alignment.
+     * @return Serialized size.
+     */
+    eProsima_user_DllExport static size_t getCdrSerializedSize(
+            const MyUnion& data,
+            size_t current_alignment = 0);
+
+
+    /*!
+     * @brief This function serializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serialize(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+    /*!
+     * @brief This function deserializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void deserialize(
+            eprosima::fastcdr::Cdr& cdr);
+
+
+
+
+private:
+
+    int32_t m__d;
+
+    uint8_t m_octet_value;
+    int32_t m_long_value;
+    std::string m_string_value;
+};
+/*!
+ * @brief This class represents the structure union_struct defined by the user in the IDL file.
+ * @ingroup union_struct
+ */
+class union_struct
+{
+public:
+
+    /*!
+     * @brief Default constructor.
+     */
+    eProsima_user_DllExport union_struct();
+
+    /*!
+     * @brief Default destructor.
+     */
+    eProsima_user_DllExport ~union_struct();
+
+    /*!
+     * @brief Copy constructor.
+     * @param x Reference to the object union_struct that will be copied.
+     */
+    eProsima_user_DllExport union_struct(
+            const union_struct& x);
+
+    /*!
+     * @brief Move constructor.
+     * @param x Reference to the object union_struct that will be copied.
+     */
+    eProsima_user_DllExport union_struct(
+            union_struct&& x) noexcept;
+
+    /*!
+     * @brief Copy assignment.
+     * @param x Reference to the object union_struct that will be copied.
+     */
+    eProsima_user_DllExport union_struct& operator =(
+            const union_struct& x);
+
+    /*!
+     * @brief Move assignment.
+     * @param x Reference to the object union_struct that will be copied.
+     */
+    eProsima_user_DllExport union_struct& operator =(
+            union_struct&& x) noexcept;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x union_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator ==(
+            const union_struct& x) const;
+
+    /*!
+     * @brief Comparison operator.
+     * @param x union_struct object to compare.
+     */
+    eProsima_user_DllExport bool operator !=(
+            const union_struct& x) const;
+
+    /*!
+     * @brief This function sets a value in member index
+     * @param _index New value for member index
+     */
+    eProsima_user_DllExport void index(
+            uint32_t _index);
+
+    /*!
+     * @brief This function returns the value of member index
+     * @return Value of member index
+     */
+    eProsima_user_DllExport uint32_t index() const;
+
+    /*!
+     * @brief This function returns a reference to member index
+     * @return Reference to member index
+     */
+    eProsima_user_DllExport uint32_t& index();
+
+    /*!
+     * @brief This function copies the value in member union_value
+     * @param _union_value New value to be copied in member union_value
+     */
+    eProsima_user_DllExport void union_value(
+            const MyUnion& _union_value);
+
+    /*!
+     * @brief This function moves the value in member union_value
+     * @param _union_value New value to be moved in member union_value
+     */
+    eProsima_user_DllExport void union_value(
+            MyUnion&& _union_value);
+
+    /*!
+     * @brief This function returns a constant reference to member union_value
+     * @return Constant reference to member union_value
+     */
+    eProsima_user_DllExport const MyUnion& union_value() const;
+
+    /*!
+     * @brief This function returns a reference to member union_value
+     * @return Reference to member union_value
+     */
+    eProsima_user_DllExport MyUnion& union_value();
+
+    /*!
+    * @brief This function returns the maximum serialized size of an object
+    * depending on the buffer alignment.
+    * @param current_alignment Buffer alignment.
+    * @return Maximum serialized size.
+    */
+    eProsima_user_DllExport static size_t getMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function returns the serialized size of a data depending on the buffer alignment.
+     * @param data Data which is calculated its serialized size.
+     * @param current_alignment Buffer alignment.
+     * @return Serialized size.
+     */
+    eProsima_user_DllExport static size_t getCdrSerializedSize(
+            const union_struct& data,
+            size_t current_alignment = 0);
+
+
+    /*!
+     * @brief This function serializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serialize(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+    /*!
+     * @brief This function deserializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void deserialize(
+            eprosima::fastcdr::Cdr& cdr);
+
+
+
+    /*!
+     * @brief This function returns the maximum serialized size of the Key of an object
+     * depending on the buffer alignment.
+     * @param current_alignment Buffer alignment.
+     * @return Maximum serialized size.
+     */
+    eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(
+            size_t current_alignment = 0);
+
+    /*!
+     * @brief This function tells you if the Key has been defined for this type
+     */
+    eProsima_user_DllExport static bool isKeyDefined();
+
+    /*!
+     * @brief This function serializes the key members of an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serializeKey(
+            eprosima::fastcdr::Cdr& cdr) const;
+
+private:
+
+    uint32_t m_index;
+    MyUnion m_union_value;
+
+};
+
+#endif // _FAST_DDS_GENERATED_UNION_STRUCT_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.cxx
new file mode 100644
index 00000000..dd0b45cd
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.cxx
@@ -0,0 +1,171 @@
+// 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 union_structPubSubTypes.cpp
+ * This header file contains the implementation of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include "union_structPubSubTypes.h"
+
+using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
+using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
+
+
+union_structPubSubType::union_structPubSubType()
+{
+    setName("union_struct");
+    auto type_size = union_struct::getMaxCdrSerializedSize();
+    type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
+    m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
+    m_isGetKeyDefined = union_struct::isKeyDefined();
+    size_t keyLength = union_struct::getKeyMaxCdrSerializedSize() > 16 ?
+            union_struct::getKeyMaxCdrSerializedSize() : 16;
+    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
+    memset(m_keyBuffer, 0, keyLength);
+}
+
+union_structPubSubType::~union_structPubSubType()
+{
+    if (m_keyBuffer != nullptr)
+    {
+        free(m_keyBuffer);
+    }
+}
+
+bool union_structPubSubType::serialize(
+        void* data,
+        SerializedPayload_t* payload)
+{
+    union_struct* p_type = static_cast<union_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+    try
+    {
+        // Serialize encapsulation
+        ser.serialize_encapsulation();
+        // Serialize the object.
+        p_type->serialize(ser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    // Get the serialized length
+    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
+    return true;
+}
+
+bool union_structPubSubType::deserialize(
+        SerializedPayload_t* payload,
+        void* data)
+{
+    try
+    {
+        // Convert DATA to pointer of your type
+        union_struct* p_type = static_cast<union_struct*>(data);
+
+        // Object that manages the raw buffer.
+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
+
+        // Object that deserializes the data.
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+
+        // Deserialize encapsulation.
+        deser.read_encapsulation();
+        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+        // Deserialize the object.
+        p_type->deserialize(deser);
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return false;
+    }
+
+    return true;
+}
+
+std::function<uint32_t()> union_structPubSubType::getSerializedSizeProvider(
+        void* data)
+{
+    return [data]() -> uint32_t
+           {
+               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<union_struct*>(data))) +
+                      4u /*encapsulation*/;
+           };
+}
+
+void* union_structPubSubType::createData()
+{
+    return reinterpret_cast<void*>(new union_struct());
+}
+
+void union_structPubSubType::deleteData(
+        void* data)
+{
+    delete(reinterpret_cast<union_struct*>(data));
+}
+
+bool union_structPubSubType::getKey(
+        void* data,
+        InstanceHandle_t* handle,
+        bool force_md5)
+{
+    if (!m_isGetKeyDefined)
+    {
+        return false;
+    }
+
+    union_struct* p_type = static_cast<union_struct*>(data);
+
+    // Object that manages the raw buffer.
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+            union_struct::getKeyMaxCdrSerializedSize());
+
+    // Object that serializes the data.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
+    p_type->serializeKey(ser);
+    if (force_md5 || union_struct::getKeyMaxCdrSerializedSize() > 16)
+    {
+        m_md5.init();
+        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
+        m_md5.finalize();
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_md5.digest[i];
+        }
+    }
+    else
+    {
+        for (uint8_t i = 0; i < 16; ++i)
+        {
+            handle->value[i] = m_keyBuffer[i];
+        }
+    }
+    return true;
+}
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.h
new file mode 100644
index 00000000..f59d70ab
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structPubSubTypes.h
@@ -0,0 +1,106 @@
+// 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 union_structPubSubTypes.h
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#ifndef _FAST_DDS_GENERATED_UNION_STRUCT_PUBSUBTYPES_H_
+#define _FAST_DDS_GENERATED_UNION_STRUCT_PUBSUBTYPES_H_
+
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastrtps/utils/md5.h>
+
+#include "union_struct.h"
+
+
+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
+#error \
+    Generated union_struct is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif  // GEN_API_VER
+
+
+
+/*!
+ * @brief This class represents the TopicDataType of the type union_struct defined by the user in the IDL file.
+ * @ingroup union_struct
+ */
+class union_structPubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef union_struct type;
+
+    eProsima_user_DllExport union_structPubSubType();
+
+    eProsima_user_DllExport virtual ~union_structPubSubType() override;
+
+    eProsima_user_DllExport virtual bool serialize(
+            void* data,
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload) override;
+
+    eProsima_user_DllExport virtual bool deserialize(
+            eprosima::fastrtps::rtps::SerializedPayload_t* payload,
+            void* data) override;
+
+    eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(
+            void* data) override;
+
+    eProsima_user_DllExport virtual bool getKey(
+            void* data,
+            eprosima::fastrtps::rtps::InstanceHandle_t* ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport virtual void* createData() override;
+
+    eProsima_user_DllExport virtual void deleteData(
+            void* data) override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+    eProsima_user_DllExport inline bool is_plain() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        (void)memory;
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+    MD5 m_md5;
+    unsigned char* m_keyBuffer;
+
+};
+
+#endif // _FAST_DDS_GENERATED_UNION_STRUCT_PUBSUBTYPES_H_
+
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.cxx b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.cxx
new file mode 100644
index 00000000..8796c646
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.cxx
@@ -0,0 +1,512 @@
+// 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 union_structTypeObject.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace { char dummy; }
+#endif
+
+#include "union_struct.h"
+#include "union_structTypeObject.h"
+#include <mutex>
+#include <utility>
+#include <sstream>
+#include <fastrtps/rtps/common/SerializedPayload.h>
+#include <fastrtps/utils/md5.h>
+#include <fastrtps/types/TypeObjectFactory.h>
+#include <fastrtps/types/TypeNamesGenerator.h>
+#include <fastrtps/types/AnnotationParameterValue.h>
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+using namespace eprosima::fastrtps::rtps;
+
+void registerunion_structTypes()
+{
+    static std::once_flag once_flag;
+    std::call_once(once_flag, []()
+            {
+                TypeObjectFactory *factory = TypeObjectFactory::get_instance();
+                factory->add_type_object("MyUnion", GetMyUnionIdentifier(true),
+                GetMyUnionObject(true));
+                factory->add_type_object("MyUnion", GetMyUnionIdentifier(false),
+                GetMyUnionObject(false));
+
+                factory->add_type_object("union_struct", Getunion_structIdentifier(true),
+                Getunion_structObject(true));
+                factory->add_type_object("union_struct", Getunion_structIdentifier(false),
+                Getunion_structObject(false));
+
+            });
+}
+
+const TypeIdentifier* GetMyUnionIdentifier(bool complete)
+{
+    const TypeIdentifier * c_identifier = TypeObjectFactory::get_instance()->get_type_identifier("MyUnion", complete);
+    if (c_identifier != nullptr && (!complete || c_identifier->_d() == EK_COMPLETE))
+    {
+        return c_identifier;
+    }
+
+    GetMyUnionObject(complete);
+    return TypeObjectFactory::get_instance()->get_type_identifier("MyUnion", complete);
+}
+
+const TypeObject* GetMyUnionObject(bool complete)
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("MyUnion", complete);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+    else if (complete)
+    {
+        return GetCompleteMyUnionObject();
+    }
+    // else
+    return GetMinimalMyUnionObject();
+}
+
+const TypeObject* GetMinimalMyUnionObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("MyUnion", false);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_MINIMAL);
+    type_object->minimal()._d(TK_UNION);
+
+    type_object->minimal().union_type().union_flags().IS_FINAL(false);
+    type_object->minimal().union_type().union_flags().IS_APPENDABLE(false);
+    type_object->minimal().union_type().union_flags().IS_MUTABLE(false);
+    type_object->minimal().union_type().union_flags().IS_NESTED(false);
+    type_object->minimal().union_type().union_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    type_object->minimal().union_type().discriminator().common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    type_object->minimal().union_type().discriminator().common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    type_object->minimal().union_type().discriminator().common().member_flags().IS_EXTERNAL(false); // Doesn't apply
+    type_object->minimal().union_type().discriminator().common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    type_object->minimal().union_type().discriminator().common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    type_object->minimal().union_type().discriminator().common().member_flags().IS_KEY(false); // Unsupported
+    type_object->minimal().union_type().discriminator().common().member_flags().IS_DEFAULT(false); // Doesn't apply
+
+    type_object->minimal().union_type().discriminator().common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("int32_t", false));
+
+    MemberId memberId = 0;
+    MinimalUnionMember mst_octet_value;
+    mst_octet_value.common().member_id(memberId++);
+    mst_octet_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_octet_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_octet_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_octet_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    mst_octet_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mst_octet_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    mst_octet_value.common().member_flags().IS_DEFAULT(false);
+    mst_octet_value.common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint8_t", false));
+
+    mst_octet_value.common().label_seq().emplace_back(1);
+    MD5 octet_value_hash("octet_value");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_octet_value.detail().name_hash()[i] = octet_value_hash.digest[i];
+    }
+    type_object->minimal().union_type().member_seq().emplace_back(mst_octet_value);
+
+    MinimalUnionMember mst_long_value;
+    mst_long_value.common().member_id(memberId++);
+    mst_long_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_long_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_long_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_long_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    mst_long_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mst_long_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    mst_long_value.common().member_flags().IS_DEFAULT(false);
+    mst_long_value.common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("int32_t", false));
+
+    mst_long_value.common().label_seq().emplace_back(2);
+    MD5 long_value_hash("long_value");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_long_value.detail().name_hash()[i] = long_value_hash.digest[i];
+    }
+    type_object->minimal().union_type().member_seq().emplace_back(mst_long_value);
+
+    MinimalUnionMember mst_string_value;
+    mst_string_value.common().member_id(memberId++);
+    mst_string_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_string_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_string_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_string_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    mst_string_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    mst_string_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    mst_string_value.common().member_flags().IS_DEFAULT(false);
+    mst_string_value.common().type_id(*TypeObjectFactory::get_instance()->get_string_identifier(255, false));
+
+
+    mst_string_value.common().label_seq().emplace_back(3);
+    MD5 string_value_hash("string_value");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_string_value.detail().name_hash()[i] = string_value_hash.digest[i];
+    }
+    type_object->minimal().union_type().member_seq().emplace_back(mst_string_value);
+
+
+    // Header
+    //type_object->minimal().union_type().header().detail()... // Empty
+
+    TypeIdentifier* identifier = new TypeIdentifier();
+    identifier->_d(EK_MINIMAL);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        MinimalUnionType::getCdrSerializedSize(type_object->minimal().union_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier->equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("MyUnion", identifier, type_object);
+    delete type_object;
+    delete identifier;
+    return TypeObjectFactory::get_instance()->get_type_object("MyUnion", false);
+}
+
+const TypeObject* GetCompleteMyUnionObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("MyUnion", true);
+    if (c_type_object != nullptr && c_type_object->_d() == EK_COMPLETE)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_COMPLETE);
+    type_object->complete()._d(TK_UNION);
+
+    type_object->complete().union_type().union_flags().IS_FINAL(false);
+    type_object->complete().union_type().union_flags().IS_APPENDABLE(false);
+    type_object->complete().union_type().union_flags().IS_MUTABLE(false);
+    type_object->complete().union_type().union_flags().IS_NESTED(false);
+    type_object->complete().union_type().union_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    type_object->complete().union_type().discriminator().common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    type_object->complete().union_type().discriminator().common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    type_object->complete().union_type().discriminator().common().member_flags().IS_EXTERNAL(false); // Doesn't apply
+    type_object->complete().union_type().discriminator().common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    type_object->complete().union_type().discriminator().common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    type_object->complete().union_type().discriminator().common().member_flags().IS_KEY(false); // Unsupported
+    type_object->complete().union_type().discriminator().common().member_flags().IS_DEFAULT(false); // Doesn't apply
+
+    type_object->complete().union_type().discriminator().common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("int32_t", false));
+
+
+    MemberId memberId = 0;
+    CompleteUnionMember cst_octet_value;
+    cst_octet_value.common().member_id(memberId++);
+    cst_octet_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_octet_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_octet_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_octet_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    cst_octet_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cst_octet_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    cst_octet_value.common().member_flags().IS_DEFAULT(false);
+    cst_octet_value.common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint8_t", false));
+    cst_octet_value.common().label_seq().emplace_back(1);
+
+    cst_octet_value.detail().name("octet_value");
+
+    type_object->complete().union_type().member_seq().emplace_back(cst_octet_value);
+
+    CompleteUnionMember cst_long_value;
+    cst_long_value.common().member_id(memberId++);
+    cst_long_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_long_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_long_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_long_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    cst_long_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cst_long_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    cst_long_value.common().member_flags().IS_DEFAULT(false);
+    cst_long_value.common().type_id(*TypeObjectFactory::get_instance()->get_type_identifier("int32_t", false));
+    cst_long_value.common().label_seq().emplace_back(2);
+
+    cst_long_value.detail().name("long_value");
+
+    type_object->complete().union_type().member_seq().emplace_back(cst_long_value);
+
+    CompleteUnionMember cst_string_value;
+    cst_string_value.common().member_id(memberId++);
+    cst_string_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_string_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_string_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_string_value.common().member_flags().IS_OPTIONAL(false); // Doesn't apply
+    cst_string_value.common().member_flags().IS_MUST_UNDERSTAND(false); // Doesn't apply
+    cst_string_value.common().member_flags().IS_KEY(false); // Doesn't apply
+    cst_string_value.common().member_flags().IS_DEFAULT(false);
+    cst_string_value.common().type_id(*TypeObjectFactory::get_instance()->get_string_identifier(255, false));
+
+    cst_string_value.common().label_seq().emplace_back(3);
+
+    cst_string_value.detail().name("string_value");
+
+    type_object->complete().union_type().member_seq().emplace_back(cst_string_value);
+
+
+    // Header
+    type_object->complete().union_type().header().detail().type_name("MyUnion");
+
+
+    TypeIdentifier* identifier = new TypeIdentifier();
+    identifier->_d(EK_COMPLETE);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        CompleteUnionType::getCdrSerializedSize(type_object->complete().union_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier->equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("MyUnion", identifier, type_object);
+    delete type_object;
+    delete identifier;
+    return TypeObjectFactory::get_instance()->get_type_object("MyUnion", true);
+}
+
+const TypeIdentifier* Getunion_structIdentifier(bool complete)
+{
+    const TypeIdentifier * c_identifier = TypeObjectFactory::get_instance()->get_type_identifier("union_struct", complete);
+    if (c_identifier != nullptr && (!complete || c_identifier->_d() == EK_COMPLETE))
+    {
+        return c_identifier;
+    }
+
+    Getunion_structObject(complete); // Generated inside
+    return TypeObjectFactory::get_instance()->get_type_identifier("union_struct", complete);
+}
+
+const TypeObject* Getunion_structObject(bool complete)
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("union_struct", complete);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+    else if (complete)
+    {
+        return GetCompleteunion_structObject();
+    }
+    //else
+    return GetMinimalunion_structObject();
+}
+
+const TypeObject* GetMinimalunion_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("union_struct", false);
+    if (c_type_object != nullptr)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_MINIMAL);
+    type_object->minimal()._d(TK_STRUCTURE);
+
+    type_object->minimal().struct_type().struct_flags().IS_FINAL(false);
+    type_object->minimal().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->minimal().struct_type().struct_flags().IS_NESTED(false);
+    type_object->minimal().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    MinimalStructMember mst_index;
+    mst_index.common().member_id(memberId++);
+    mst_index.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_index.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_index.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_index.common().member_flags().IS_OPTIONAL(false);
+    mst_index.common().member_flags().IS_MUST_UNDERSTAND(false);
+    mst_index.common().member_flags().IS_KEY(false);
+    mst_index.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    mst_index.common().member_type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint32_t", false));
+
+    MD5 index_hash("index");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_index.detail().name_hash()[i] = index_hash.digest[i];
+    }
+    type_object->minimal().struct_type().member_seq().emplace_back(mst_index);
+
+    MinimalStructMember mst_union_value;
+    mst_union_value.common().member_id(memberId++);
+    mst_union_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    mst_union_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    mst_union_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    mst_union_value.common().member_flags().IS_OPTIONAL(false);
+    mst_union_value.common().member_flags().IS_MUST_UNDERSTAND(false);
+    mst_union_value.common().member_flags().IS_KEY(false);
+    mst_union_value.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    mst_union_value.common().member_type_id(*GetMyUnionIdentifier(false));
+    MD5 union_value_hash("union_value");
+    for(int i = 0; i < 4; ++i)
+    {
+        mst_union_value.detail().name_hash()[i] = union_value_hash.digest[i];
+    }
+    type_object->minimal().struct_type().member_seq().emplace_back(mst_union_value);
+
+
+    // Header
+    // TODO Inheritance
+    //type_object->minimal().struct_type().header().base_type()._d(EK_MINIMAL);
+    //type_object->minimal().struct_type().header().base_type().equivalence_hash()[0..13];
+
+    TypeIdentifier identifier;
+    identifier._d(EK_MINIMAL);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        MinimalStructType::getCdrSerializedSize(type_object->minimal().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("union_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("union_struct", false);
+}
+
+const TypeObject* GetCompleteunion_structObject()
+{
+    const TypeObject* c_type_object = TypeObjectFactory::get_instance()->get_type_object("union_struct", true);
+    if (c_type_object != nullptr && c_type_object->_d() == EK_COMPLETE)
+    {
+        return c_type_object;
+    }
+
+    TypeObject *type_object = new TypeObject();
+    type_object->_d(EK_COMPLETE);
+    type_object->complete()._d(TK_STRUCTURE);
+
+    type_object->complete().struct_type().struct_flags().IS_FINAL(false);
+    type_object->complete().struct_type().struct_flags().IS_APPENDABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_MUTABLE(false);
+    type_object->complete().struct_type().struct_flags().IS_NESTED(false);
+    type_object->complete().struct_type().struct_flags().IS_AUTOID_HASH(false); // Unsupported
+
+    MemberId memberId = 0;
+    CompleteStructMember cst_index;
+    cst_index.common().member_id(memberId++);
+    cst_index.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_index.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_index.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_index.common().member_flags().IS_OPTIONAL(false);
+    cst_index.common().member_flags().IS_MUST_UNDERSTAND(false);
+    cst_index.common().member_flags().IS_KEY(false);
+    cst_index.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    cst_index.common().member_type_id(*TypeObjectFactory::get_instance()->get_type_identifier("uint32_t", false));
+
+    cst_index.detail().name("index");
+
+    type_object->complete().struct_type().member_seq().emplace_back(cst_index);
+
+    CompleteStructMember cst_union_value;
+    cst_union_value.common().member_id(memberId++);
+    cst_union_value.common().member_flags().TRY_CONSTRUCT1(false); // Unsupported
+    cst_union_value.common().member_flags().TRY_CONSTRUCT2(false); // Unsupported
+    cst_union_value.common().member_flags().IS_EXTERNAL(false); // Unsupported
+    cst_union_value.common().member_flags().IS_OPTIONAL(false);
+    cst_union_value.common().member_flags().IS_MUST_UNDERSTAND(false);
+    cst_union_value.common().member_flags().IS_KEY(false);
+    cst_union_value.common().member_flags().IS_DEFAULT(false); // Doesn't apply
+    cst_union_value.common().member_type_id(*GetMyUnionIdentifier(true));
+    cst_union_value.detail().name("union_value");
+
+    type_object->complete().struct_type().member_seq().emplace_back(cst_union_value);
+
+
+    // Header
+    type_object->complete().struct_type().header().detail().type_name("union_struct");
+    // TODO inheritance
+
+
+    TypeIdentifier identifier;
+    identifier._d(EK_COMPLETE);
+
+    SerializedPayload_t payload(static_cast<uint32_t>(
+        CompleteStructType::getCdrSerializedSize(type_object->complete().struct_type()) + 4));
+    eprosima::fastcdr::FastBuffer fastbuffer((char*) payload.data, payload.max_size);
+    // Fixed endian (Page 221, EquivalenceHash definition of Extensible and Dynamic Topic Types for DDS document)
+    eprosima::fastcdr::Cdr ser(
+        fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
+        eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload.encapsulation = CDR_LE;
+
+    type_object->serialize(ser);
+    payload.length = (uint32_t)ser.getSerializedDataLength(); //Get the serialized length
+    MD5 objectHash;
+    objectHash.update((char*)payload.data, payload.length);
+    objectHash.finalize();
+    for(int i = 0; i < 14; ++i)
+    {
+        identifier.equivalence_hash()[i] = objectHash.digest[i];
+    }
+
+    TypeObjectFactory::get_instance()->add_type_object("union_struct", &identifier, type_object);
+    delete type_object;
+    return TypeObjectFactory::get_instance()->get_type_object("union_struct", true);
+}
diff --git a/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.h b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.h
new file mode 100644
index 00000000..0abcf85c
--- /dev/null
+++ b/ddspipe_core/test/unittest/types/dynamic_types/types/type_objects/union_structTypeObject.h
@@ -0,0 +1,68 @@
+// 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 union_structTypeObject.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _FAST_DDS_GENERATED_UNION_STRUCT_TYPE_OBJECT_H_
+#define _FAST_DDS_GENERATED_UNION_STRUCT_TYPE_OBJECT_H_
+
+
+#include <fastrtps/types/TypeObject.h>
+#include <map>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif
+#else
+#define eProsima_user_DllExport
+#endif
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(union_struct_SOURCE)
+#define union_struct_DllAPI __declspec( dllexport )
+#else
+#define union_struct_DllAPI __declspec( dllimport )
+#endif // union_struct_SOURCE
+#else
+#define union_struct_DllAPI
+#endif
+#else
+#define union_struct_DllAPI
+#endif // _WIN32
+
+using namespace eprosima::fastrtps::types;
+
+eProsima_user_DllExport void registerunion_structTypes();
+
+eProsima_user_DllExport const TypeIdentifier* GetMyUnionIdentifier(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMyUnionObject(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMinimalMyUnionObject();
+eProsima_user_DllExport const TypeObject* GetCompleteMyUnionObject();
+
+eProsima_user_DllExport const TypeIdentifier* Getunion_structIdentifier(bool complete = false);
+eProsima_user_DllExport const TypeObject* Getunion_structObject(bool complete = false);
+eProsima_user_DllExport const TypeObject* GetMinimalunion_structObject();
+eProsima_user_DllExport const TypeObject* GetCompleteunion_structObject();
+
+
+#endif // _FAST_DDS_GENERATED_UNION_STRUCT_TYPE_OBJECT_H_
\ No newline at end of file