diff --git a/src/cpp/rtps/transport/TCPChannelResource.h b/src/cpp/rtps/transport/TCPChannelResource.h
index 3443e5d211c..1f795c37c6e 100644
--- a/src/cpp/rtps/transport/TCPChannelResource.h
+++ b/src/cpp/rtps/transport/TCPChannelResource.h
@@ -130,13 +130,33 @@ class TCPChannelResource : public ChannelResource
             size_t size,
             asio::error_code& ec) = 0;
 
+    /**
+     * @brief Gets the remote endpoint of the socket connection.
+     * @throws Exception on failure.
+     * @return asio::ip::tcp::endpoint of the remote endpoint.
+     */
     virtual asio::ip::tcp::endpoint remote_endpoint() const = 0;
 
+    /**
+     * @brief Gets the local endpoint of the socket connection.
+     * @throws Exception on failure.
+     * @return asio::ip::tcp::endpoint of the local endpoint.
+     */
     virtual asio::ip::tcp::endpoint local_endpoint() const = 0;
 
+    /**
+     * @brief Gets the remote endpoint, setting error code if any.
+     * @param ec Set to indicate what error occurred, if any.
+     * @return asio::ip::tcp::endpoint of the remote endpoint or returns a default-constructed endpoint object if an error occurred.
+     */
     virtual asio::ip::tcp::endpoint remote_endpoint(
             asio::error_code& ec) const = 0;
 
+    /**
+     * @brief Gets the local endpoint, setting error code if any.
+     * @param ec Set to indicate what error occurred, if any.
+     * @return asio::ip::tcp::endpoint of the remote endpoint or returns a default-constructed endpoint object if an error occurred.
+     */
     virtual asio::ip::tcp::endpoint local_endpoint(
             asio::error_code& ec) const = 0;
 
diff --git a/src/cpp/rtps/transport/TCPChannelResourceBasic.h b/src/cpp/rtps/transport/TCPChannelResourceBasic.h
index e0de0da0c6e..20928f0f494 100644
--- a/src/cpp/rtps/transport/TCPChannelResourceBasic.h
+++ b/src/cpp/rtps/transport/TCPChannelResourceBasic.h
@@ -65,11 +65,11 @@ class TCPChannelResourceBasic : public TCPChannelResource
             size_t size,
             asio::error_code& ec) override;
 
-    // Non-throwing asio calls
+    // Throwing asio calls
     asio::ip::tcp::endpoint remote_endpoint() const override;
     asio::ip::tcp::endpoint local_endpoint() const override;
 
-    // Throwing asio calls
+    // Non-throwing asio calls
     asio::ip::tcp::endpoint remote_endpoint(
             asio::error_code& ec) const override;
     asio::ip::tcp::endpoint local_endpoint(
diff --git a/src/cpp/rtps/transport/TCPTransportInterface.cpp b/src/cpp/rtps/transport/TCPTransportInterface.cpp
index 65e8b333f02..49576f1c11a 100644
--- a/src/cpp/rtps/transport/TCPTransportInterface.cpp
+++ b/src/cpp/rtps/transport/TCPTransportInterface.cpp
@@ -260,6 +260,19 @@ void TCPTransportInterface::clean()
     }
 }
 
+Locator TCPTransportInterface::remote_endpoint_to_locator(
+        const std::shared_ptr<TCPChannelResource>& channel) const
+{
+    Locator locator;
+    asio::error_code ec;
+    endpoint_to_locator(channel->remote_endpoint(ec), locator);
+    if (ec)
+    {
+        LOCATOR_INVALID(locator);
+    }
+    return locator;
+}
+
 void TCPTransportInterface::bind_socket(
         std::shared_ptr<TCPChannelResource>& channel)
 {
@@ -898,12 +911,8 @@ void TCPTransportInterface::perform_listen_operation(
     if (rtcp_message_manager)
     {
         channel = channel_weak.lock();
-        asio::error_code ec;
-        endpoint_to_locator(channel->remote_endpoint(ec), remote_locator);
-        if (ec)
-        {
-            remote_locator.kind = LOCATOR_KIND_INVALID;
-        }
+
+        remote_locator = remote_endpoint_to_locator(channel);
 
         if (channel)
         {
@@ -1185,7 +1194,7 @@ bool TCPTransportInterface::Receive(
                     {
                         if (!IsLocatorValid(remote_locator))
                         {
-                            endpoint_to_locator(channel->remote_endpoint(), remote_locator);
+                            remote_locator = remote_endpoint_to_locator(channel);
                         }
                         IPLocator::setLogicalPort(remote_locator, tcp_header.logical_port);
                         EPROSIMA_LOG_INFO(RTCP_MSG_IN, "[RECEIVE] From: " << remote_locator \
diff --git a/src/cpp/rtps/transport/TCPTransportInterface.h b/src/cpp/rtps/transport/TCPTransportInterface.h
index f0a2ac082a2..0667fcf81be 100644
--- a/src/cpp/rtps/transport/TCPTransportInterface.h
+++ b/src/cpp/rtps/transport/TCPTransportInterface.h
@@ -188,6 +188,12 @@ class TCPTransportInterface : public TransportInterface
             const asio::ip::tcp::endpoint& endpoint,
             Locator& locator) const = 0;
 
+    /**
+     * Converts a remote endpoint to a locator if possible. Otherwise, it sets an invalid locator.
+     */
+    Locator remote_endpoint_to_locator(
+            const std::shared_ptr<TCPChannelResource>& channel) const;
+
     /**
      * Shutdown method to close the connections of the transports.
      */