diff --git a/ddsrouter_core/src/cpp/core/ParticipantFactory.cpp b/ddsrouter_core/src/cpp/core/ParticipantFactory.cpp
index ec8b22b08..fd30ef829 100644
--- a/ddsrouter_core/src/cpp/core/ParticipantFactory.cpp
+++ b/ddsrouter_core/src/cpp/core/ParticipantFactory.cpp
@@ -31,9 +31,9 @@
 #include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 #include <ddspipe_participants/configuration/XmlParticipantConfiguration.hpp>
 #include <ddspipe_participants/participant/auxiliar/EchoParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/DiscoveryServerParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/InitialPeersParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/SimpleParticipant.hpp>
+#include <ddspipe_participants/participant/dds/DiscoveryServerParticipant.hpp>
+#include <ddspipe_participants/participant/dds/InitialPeersParticipant.hpp>
+#include <ddspipe_participants/participant/dds/SimpleParticipant.hpp>
 #include <ddspipe_participants/participant/dds/XmlParticipant.hpp>
 
 #include <ddsrouter_core/types/ParticipantKind.hpp>
@@ -104,7 +104,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
         case types::ParticipantKind::simple:
             return generic_create_participant_with_init<
                 ddspipe::participants::SimpleParticipantConfiguration,
-                ddspipe::participants::rtps::SimpleParticipant>
+                ddspipe::participants::dds::SimpleParticipant>
                    (
                 kind,
                 participant_configuration,
@@ -115,7 +115,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
         case types::ParticipantKind::discovery_server:
             return generic_create_participant_with_init<
                 ddspipe::participants::DiscoveryServerParticipantConfiguration,
-                ddspipe::participants::rtps::DiscoveryServerParticipant>
+                ddspipe::participants::dds::DiscoveryServerParticipant>
                    (
                 kind,
                 participant_configuration,
@@ -126,7 +126,7 @@ std::shared_ptr<ddspipe::core::IParticipant> ParticipantFactory::create_particip
         case types::ParticipantKind::initial_peers:
             return generic_create_participant_with_init<
                 ddspipe::participants::InitialPeersParticipantConfiguration,
-                ddspipe::participants::rtps::InitialPeersParticipant>
+                ddspipe::participants::dds::InitialPeersParticipant>
                    (
                 kind,
                 participant_configuration,
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
index 7b54503f5..022dd02bc 100644
--- a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
+++ b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
@@ -22,6 +22,7 @@
 #include <cpp_utils/testing/LogChecker.hpp>
 
 #include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
+#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 
 #include <ddsrouter_core/core/DdsRouter.hpp>
 
@@ -50,7 +51,8 @@ constexpr const uint32_t DEFAULT_MESSAGE_SIZE = 1; // x50 bytes
  */
 DdsRouterConfiguration dds_test_simple_configuration(
         bool disable_dynamic_discovery = false,
-        bool transient_local_readers = false)
+        bool transient_local_readers = false,
+        bool keyed = false)
 {
     DdsRouterConfiguration conf;
 
@@ -79,13 +81,24 @@ DdsRouterConfiguration dds_test_simple_configuration(
         topic.type_name = "HelloWorld";
         topic.topic_qos = qos;
 
-        core::types::DdsTopic topic_keyed(topic);
-        topic_keyed.type_name = "HelloWorldKeyed";
-        topic_keyed.topic_qos.keyed = true;
+        // DDS Participants cannot have two topics with the same name.
+        // Since this test does not require two distinct topics, we can simply avoid inserting
+        // the other topic if it isn't needed.
+        if (!keyed)
+        {
+            conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
+        }
+        else
+        {
+            core::types::DdsTopic topic_keyed(topic);
+            topic_keyed.type_name = "HelloWorldKeyed";
+            topic_keyed.topic_qos.keyed = true;
 
-        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
-        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
-                    topic_keyed));
+            conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
+                        topic_keyed));
+        }
+
+        conf.ddspipe_configuration.discovery_trigger = core::DiscoveryTrigger::NONE;
     }
 
     // Two simple participants
@@ -225,7 +238,7 @@ TEST(DDSTestLocal, end_to_end_local_communication)
 TEST(DDSTestLocal, end_to_end_local_communication_keyed)
 {
     test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
-        test::dds_test_simple_configuration());
+        test::dds_test_simple_configuration(false, false, true));
 }
 
 /**
@@ -242,7 +255,7 @@ TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery)
 TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery_keyed)
 {
     test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
-        test::dds_test_simple_configuration(true));
+        test::dds_test_simple_configuration(true,false,true));
 }
 
 /**
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
index 3397b858e..4bde6f741 100644
--- a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
+++ b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
@@ -22,6 +22,7 @@
 #include <cpp_utils/testing/LogChecker.hpp>
 
 #include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
+#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
 
 #include <ddsrouter_core/core/DdsRouter.hpp>
 
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
index 7a1dba444..904ec5c27 100644
--- a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
+++ b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
@@ -37,13 +37,6 @@
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.hpp>
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>
 
-#include <cpp_utils/testing/gtest_aux.hpp>
-#include <cpp_utils/Log.hpp>
-
-#include <ddspipe_participants/configuration/SimpleParticipantConfiguration.hpp>
-
-#include <ddsrouter_core/core/DdsRouter.hpp>
-
 #include "HelloWorld/HelloWorldPubSubTypes.hpp"
 #include "HelloWorldKeyed/HelloWorldKeyedPubSubTypes.hpp"
 
diff --git a/ddsrouter_core/test/unittest/ParticipantFactoryTest.cpp b/ddsrouter_core/test/unittest/ParticipantFactoryTest.cpp
index 0b421c9d5..3cab327b6 100644
--- a/ddsrouter_core/test/unittest/ParticipantFactoryTest.cpp
+++ b/ddsrouter_core/test/unittest/ParticipantFactoryTest.cpp
@@ -32,9 +32,9 @@
 
 #include <ddspipe_core/interface/IParticipant.hpp>
 #include <ddspipe_participants/participant/auxiliar/EchoParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/SimpleParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/DiscoveryServerParticipant.hpp>
-#include <ddspipe_participants/participant/rtps/InitialPeersParticipant.hpp>
+#include <ddspipe_participants/participant/dds/SimpleParticipant.hpp>
+#include <ddspipe_participants/participant/dds/DiscoveryServerParticipant.hpp>
+#include <ddspipe_participants/participant/dds/InitialPeersParticipant.hpp>
 #include <ddspipe_participants/participant/dds/XmlParticipant.hpp>
 
 #include <ddspipe_participants/testing/random_values.hpp>
@@ -61,11 +61,11 @@ class EchoTestClass : public ddspipe::participants::EchoParticipant
  * It provides public access to the protected member 'configuration_' from its base class
  * ddspipe::participants::SimpleParticipant.
  */
-class SimpleTestClass : public ddspipe::participants::rtps::SimpleParticipant
+class SimpleTestClass : public ddspipe::participants::dds::SimpleParticipant
 {
 public:
 
-    using ddspipe::participants::rtps::SimpleParticipant::configuration_;  // Make protected member accessible
+    using ddspipe::participants::dds::SimpleParticipant::configuration_;  // Make protected member accessible
 };
 
 /**
@@ -73,11 +73,11 @@ class SimpleTestClass : public ddspipe::participants::rtps::SimpleParticipant
  * It provides public access to the protected member 'configuration_' from its base class
  * ddspipe::participants::DiscoveryServerParticipant.
  */
-class DiscoveryServerTestClass : public ddspipe::participants::rtps::DiscoveryServerParticipant
+class DiscoveryServerTestClass : public ddspipe::participants::dds::DiscoveryServerParticipant
 {
 public:
 
-    using ddspipe::participants::rtps::DiscoveryServerParticipant::configuration_;  // Make protected member accessible
+    using ddspipe::participants::dds::DiscoveryServerParticipant::configuration_;  // Make protected member accessible
 };
 
 /**
@@ -85,11 +85,11 @@ class DiscoveryServerTestClass : public ddspipe::participants::rtps::DiscoverySe
  * It provides public access to the protected member 'configuration_' from its base class
  * ddspipe::participants::InitialPeersParticipant.
  */
-class InitialPeersTestClass : public ddspipe::participants::rtps::InitialPeersParticipant
+class InitialPeersTestClass : public ddspipe::participants::dds::InitialPeersParticipant
 {
 public:
 
-    using ddspipe::participants::rtps::InitialPeersParticipant::configuration_;  // Make protected member accessible
+    using ddspipe::participants::dds::InitialPeersParticipant::configuration_;  // Make protected member accessible
 };
 
 /**