diff --git a/include/fastrtps/types/TypeDescriptor.h b/include/fastrtps/types/TypeDescriptor.h
index 2d2c7a24df6..89aef5acd09 100644
--- a/include/fastrtps/types/TypeDescriptor.h
+++ b/include/fastrtps/types/TypeDescriptor.h
@@ -25,6 +25,23 @@ namespace eprosima {
 namespace fastrtps {
 namespace types {
 
+enum FSM_INPUTS
+{
+    LETTER = 1,
+    NUMBER,
+    UNDERSCORE,
+    COLON,
+    OTHER
+};
+
+enum FSM_STATES
+{
+    INVALID = 0,
+    SINGLECOLON,
+    DOUBLECOLON,
+    VALID
+};
+
 class TypeDescriptor
 {
 protected:
@@ -38,6 +55,13 @@ class TypeDescriptor
     DynamicType_ptr key_element_type_;      // Key Type for maps.
     std::vector<AnnotationDescriptor*> annotation_; // Annotations to apply
 
+    const int stateTable[4][6] = {
+        /* Input:     letter,  number,  underscore, colon,       other */
+        {INVALID,     VALID,   INVALID, INVALID,    INVALID,     INVALID},
+        {SINGLECOLON, INVALID, INVALID, INVALID,    DOUBLECOLON, INVALID},
+        {DOUBLECOLON, VALID,   INVALID, INVALID,    INVALID,     INVALID},
+        {VALID,       VALID,   VALID,   VALID,      SINGLECOLON, INVALID}};
+
     void clean();
 
     bool is_type_name_consistent(
diff --git a/src/cpp/dynamic-types/TypeDescriptor.cpp b/src/cpp/dynamic-types/TypeDescriptor.cpp
index 31693034249..4d4835fdc76 100644
--- a/src/cpp/dynamic-types/TypeDescriptor.cpp
+++ b/src/cpp/dynamic-types/TypeDescriptor.cpp
@@ -249,20 +249,41 @@ bool TypeDescriptor::is_consistent() const
 bool TypeDescriptor::is_type_name_consistent(
         const std::string& sName) const
 {
-    // The first letter must start with a letter ( uppercase or lowercase )
-    if (sName.length() > 0 && std::isalpha(sName[0]))
-    {
-        // All characters must be letters, numbers or underscore.
-        for (uint32_t i = 1; i < sName.length(); ++i)
+    // Implement an FSM string parser to deal with both a plain type name
+    // and a fully qualified name. According to the DDS xtypes standard,
+    // type's fully qualified name is a concatenation of module names with
+    // the name of a type inside of those modules.
+    int currState = INVALID;
+    for (uint32_t i = 0; i < sName.length(); ++i)
+    {
+        int col = 0;
+        if (std::isalpha(sName[i]))
         {
-            if (!std::isalnum(sName[i]) && sName[i] != 95)
-            {
-                return false;
-            }
+            col = LETTER;
+        }
+        else if (std::isdigit(sName[i]))
+        {
+            col = NUMBER;
+        }
+        else if (sName[i] == '_')
+        {
+            col = UNDERSCORE;
+        }
+        else if (sName[i] == ':')
+        {
+            col = COLON;
+        }
+        else
+        {
+            col = OTHER;
+        }
+        currState = stateTable[currState][col];
+        if (currState == INVALID)
+        {
+            return false;
         }
-        return true;
     }
-    return false;
+    return true;
 }
 
 void TypeDescriptor::set_kind(
diff --git a/test/unittest/xtypes/XTypesTests.cpp b/test/unittest/xtypes/XTypesTests.cpp
index 403f7650580..6c049955f15 100644
--- a/test/unittest/xtypes/XTypesTests.cpp
+++ b/test/unittest/xtypes/XTypesTests.cpp
@@ -18,27 +18,31 @@
 #include "idl/TypesTypeObject.h"
 #include "idl/WideEnumTypeObject.h"
 #include <gtest/gtest.h>
+#include <fastrtps/types/DynamicTypeBuilderFactory.h>
+#include <fastrtps/types/TypeDescriptor.h>
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::types;
 
-class XTypesTests: public ::testing::Test
+class XTypesTests : public ::testing::Test
 {
-    public:
-        XTypesTests()
-        {
-            //registerTypesTypes();
-        }
-
-        ~XTypesTests()
-        {
-            TypeObjectFactory::delete_instance();
-            eprosima::fastdds::dds::Log::KillThread();
-        }
-
-        virtual void TearDown()
-        {
-        }
+public:
+
+    XTypesTests()
+    {
+        //registerTypesTypes();
+    }
+
+    ~XTypesTests()
+    {
+        TypeObjectFactory::delete_instance();
+        eprosima::fastdds::dds::Log::KillThread();
+    }
+
+    virtual void TearDown()
+    {
+    }
+
 };
 
 TEST_F(XTypesTests, EnumMinimalCoercion)
@@ -731,7 +735,58 @@ TEST_F(XTypesTests, SimpleUnionCompleteCoercion)
     ASSERT_FALSE(basic_wide_union->consistent(*basic_union, consistencyQos));
 }
 
-int main(int argc, char **argv)
+TEST_F(XTypesTests, TypeDescriptorFullyQualifiedName)
+{
+    DynamicTypeBuilder_ptr my_builder(DynamicTypeBuilderFactory::get_instance()->create_struct_builder());
+    my_builder->add_member(0, "x", DynamicTypeBuilderFactory::get_instance()->create_float32_type());
+    my_builder->add_member(0, "y", DynamicTypeBuilderFactory::get_instance()->create_float32_type());
+    my_builder->add_member(0, "z", DynamicTypeBuilderFactory::get_instance()->create_float32_type());
+    const TypeDescriptor* my_descriptor = my_builder->get_type_descriptor();
+
+    my_builder->set_name("Position");
+    ASSERT_TRUE(my_descriptor->is_consistent());
+    my_builder->set_name("Position_");
+    ASSERT_TRUE(my_descriptor->is_consistent());
+    my_builder->set_name("Position123");
+    ASSERT_TRUE(my_descriptor->is_consistent());
+    my_builder->set_name("position_123");
+    ASSERT_TRUE(my_descriptor->is_consistent());
+    my_builder->set_name("_Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("123Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("Position&");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+
+    my_builder->set_name("my_interface::action::dds_::Position");
+    ASSERT_TRUE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface:action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface:::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("_my_interface::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("1my_interface::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name(":my_interface::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("::my_interface::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("$my_interface::action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface::2action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface::_action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface::*action::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+    my_builder->set_name("my_interface::action*::dds_::Position");
+    ASSERT_FALSE(my_descriptor->is_consistent());
+}
+
+int main(
+        int argc,
+        char** argv)
 {
     eprosima::fastdds::dds::Log::SetVerbosity(eprosima::fastdds::dds::Log::Info);