diff --git a/include/fastrtps/config/doxygen_modules.h b/include/fastrtps/config/doxygen_modules.h
index 4aa8368b3b2..9df7c40aa50 100644
--- a/include/fastrtps/config/doxygen_modules.h
+++ b/include/fastrtps/config/doxygen_modules.h
@@ -80,6 +80,16 @@
  * This module contains all classes and methods associated with RTPSReader and its specifications, as well as other necessary classes.
  */
 
+/** @defgroup TYPES_MODULE Contains the builtin generated types
+ * @namespace eprosima::fastrtps::types
+ * @ingroup FASTRTPS_MODULE
+ */
+
+/** @defgroup XMLPARSER_MODULE Contains all the modules related with the XMLParser
+ * @namespace eprosima::fastrtps::xmlparser
+ * @ingroup FASTRTPS_MODULE
+ */
+
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 /** @defgroup PARAMETER_MODULE Qos Module
diff --git a/include/fastrtps/types/AnnotationParameterValue.h b/include/fastrtps/types/AnnotationParameterValue.h
index b56f4479753..1617b8a7317 100644
--- a/include/fastrtps/types/AnnotationParameterValue.h
+++ b/include/fastrtps/types/AnnotationParameterValue.h
@@ -58,7 +58,7 @@ namespace types {
 
 /*!
  * @brief This class represents the structure ExtendedAnnotationParameterValue defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class ExtendedAnnotationParameterValue
 {
@@ -160,7 +160,7 @@ class ExtendedAnnotationParameterValue
 };
 /*!
  * @brief This class represents the union AnnotationParameterValue defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class AnnotationParameterValue
 {
@@ -813,7 +813,7 @@ class AnnotationParameterValue
 
 /*!
  * @brief This class represents the structure AppliedAnnotationParameter defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class AppliedAnnotationParameter
 {
diff --git a/include/fastrtps/types/TypeIdentifierTypes.h b/include/fastrtps/types/TypeIdentifierTypes.h
index c4e8ffffbad..7e34977aea9 100644
--- a/include/fastrtps/types/TypeIdentifierTypes.h
+++ b/include/fastrtps/types/TypeIdentifierTypes.h
@@ -32,16 +32,16 @@
 namespace eprosima {
 namespace fastcdr {
 class Cdr;
-}
-}
+} // namespace fastcdr
+} // namespace eprosima
 
 namespace eprosima {
 
 namespace fastdds {
 namespace dds {
 class TypeConsistencyEnforcementQosPolicy;
-}
-}
+} // namespace dds
+} // namespace fastdds
 
 namespace fastrtps {
 namespace types {
@@ -53,7 +53,7 @@ class StringLTypeDefn;
 
 /*!
  * @brief This class represents the structure StringSTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StringSTypeDefn final
 {
@@ -87,14 +87,14 @@ class StringSTypeDefn final
      * @brief Copy assignment.
      * @param x Reference to the object StringSTypeDefn that will be copied.
      */
-    RTPS_DllAPI StringSTypeDefn& operator=(
+    RTPS_DllAPI StringSTypeDefn& operator =(
             const StringSTypeDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object StringSTypeDefn that will be copied.
      */
-    RTPS_DllAPI StringSTypeDefn& operator=(
+    RTPS_DllAPI StringSTypeDefn& operator =(
             StringSTypeDefn&& x);
 
     /*!
@@ -164,7 +164,7 @@ class StringSTypeDefn final
 };
 /*!
  * @brief This class represents the structure StringLTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StringLTypeDefn final
 {
@@ -198,14 +198,14 @@ class StringLTypeDefn final
      * @brief Copy assignment.
      * @param x Reference to the object StringLTypeDefn that will be copied.
      */
-    RTPS_DllAPI StringLTypeDefn& operator=(
+    RTPS_DllAPI StringLTypeDefn& operator =(
             const StringLTypeDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object StringLTypeDefn that will be copied.
      */
-    RTPS_DllAPI StringLTypeDefn& operator=(
+    RTPS_DllAPI StringLTypeDefn& operator =(
             StringLTypeDefn&& x);
 
     /*!
@@ -275,7 +275,7 @@ class StringLTypeDefn final
 };
 /*!
  * @brief This class represents the structure PlainCollectionHeader defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainCollectionHeader final
 {
@@ -309,14 +309,14 @@ class PlainCollectionHeader final
      * @brief Copy assignment.
      * @param x Reference to the object PlainCollectionHeader that will be copied.
      */
-    RTPS_DllAPI PlainCollectionHeader& operator=(
+    RTPS_DllAPI PlainCollectionHeader& operator =(
             const PlainCollectionHeader& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainCollectionHeader that will be copied.
      */
-    RTPS_DllAPI PlainCollectionHeader& operator=(
+    RTPS_DllAPI PlainCollectionHeader& operator =(
             PlainCollectionHeader&& x);
 
     /*!
@@ -346,6 +346,7 @@ class PlainCollectionHeader final
     {
         return m_equiv_kind;
     }
+
     /*!
      * @brief This function sets a value in member element_flags
      * @param _element_flags New value for member element_flags
@@ -410,7 +411,7 @@ class PlainCollectionHeader final
 };
 /*!
  * @brief This class represents the structure PlainSequenceSElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainSequenceSElemDefn final
 {
@@ -444,14 +445,14 @@ class PlainSequenceSElemDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainSequenceSElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainSequenceSElemDefn& operator=(
+    RTPS_DllAPI PlainSequenceSElemDefn& operator =(
             const PlainSequenceSElemDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainSequenceSElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainSequenceSElemDefn& operator=(
+    RTPS_DllAPI PlainSequenceSElemDefn& operator =(
             PlainSequenceSElemDefn&& x);
 
     /*!
@@ -491,6 +492,7 @@ class PlainSequenceSElemDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function sets a value in member bound
      * @param _bound New value for member bound
@@ -518,6 +520,7 @@ class PlainSequenceSElemDefn final
     {
         return m_bound;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -580,7 +583,7 @@ class PlainSequenceSElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainSequenceLElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainSequenceLElemDefn final
 {
@@ -614,14 +617,14 @@ class PlainSequenceLElemDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainSequenceLElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainSequenceLElemDefn& operator=(
+    RTPS_DllAPI PlainSequenceLElemDefn& operator =(
             const PlainSequenceLElemDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainSequenceLElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainSequenceLElemDefn& operator=(
+    RTPS_DllAPI PlainSequenceLElemDefn& operator =(
             PlainSequenceLElemDefn&& x);
 
     /*!
@@ -661,6 +664,7 @@ class PlainSequenceLElemDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function sets a value in member bound
      * @param _bound New value for member bound
@@ -688,6 +692,7 @@ class PlainSequenceLElemDefn final
     {
         return m_bound;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -750,7 +755,7 @@ class PlainSequenceLElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainArraySElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainArraySElemDefn final
 {
@@ -784,14 +789,14 @@ class PlainArraySElemDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainArraySElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainArraySElemDefn& operator=(
+    RTPS_DllAPI PlainArraySElemDefn& operator =(
             const PlainArraySElemDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainArraySElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainArraySElemDefn& operator=(
+    RTPS_DllAPI PlainArraySElemDefn& operator =(
             PlainArraySElemDefn&& x);
 
     /*!
@@ -831,6 +836,7 @@ class PlainArraySElemDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function copies the value in member array_bound_seq
      * @param _array_bound_seq New value to be copied in member array_bound_seq
@@ -868,6 +874,7 @@ class PlainArraySElemDefn final
     {
         return m_array_bound_seq;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -930,7 +937,7 @@ class PlainArraySElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainArrayLElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainArrayLElemDefn final
 {
@@ -964,14 +971,14 @@ class PlainArrayLElemDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainArrayLElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainArrayLElemDefn& operator=(
+    RTPS_DllAPI PlainArrayLElemDefn& operator =(
             const PlainArrayLElemDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainArrayLElemDefn that will be copied.
      */
-    RTPS_DllAPI PlainArrayLElemDefn& operator=(
+    RTPS_DllAPI PlainArrayLElemDefn& operator =(
             PlainArrayLElemDefn&& x);
 
     /*!
@@ -1011,6 +1018,7 @@ class PlainArrayLElemDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function copies the value in member array_bound_seq
      * @param _array_bound_seq New value to be copied in member array_bound_seq
@@ -1048,6 +1056,7 @@ class PlainArrayLElemDefn final
     {
         return m_array_bound_seq;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -1110,7 +1119,7 @@ class PlainArrayLElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainMapSTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainMapSTypeDefn final
 {
@@ -1144,14 +1153,14 @@ class PlainMapSTypeDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainMapSTypeDefn that will be copied.
      */
-    RTPS_DllAPI PlainMapSTypeDefn& operator=(
+    RTPS_DllAPI PlainMapSTypeDefn& operator =(
             const PlainMapSTypeDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainMapSTypeDefn that will be copied.
      */
-    RTPS_DllAPI PlainMapSTypeDefn& operator=(
+    RTPS_DllAPI PlainMapSTypeDefn& operator =(
             PlainMapSTypeDefn&& x);
 
     /*!
@@ -1191,6 +1200,7 @@ class PlainMapSTypeDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function sets a value in member bound
      * @param _bound New value for member bound
@@ -1218,6 +1228,7 @@ class PlainMapSTypeDefn final
     {
         return m_bound;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -1242,6 +1253,7 @@ class PlainMapSTypeDefn final
     {
         return m_element_identifier;
     }
+
     /*!
      * @brief This function sets a value in member key_flags
      * @param _key_flags New value for member key_flags
@@ -1269,6 +1281,7 @@ class PlainMapSTypeDefn final
     {
         return m_key_flags;
     }
+
     /*!
      * @brief This function sets a value in member key_identifier
      * @param _key_identifier New value for member key_identifier
@@ -1333,7 +1346,7 @@ class PlainMapSTypeDefn final
 };
 /*!
  * @brief This class represents the structure PlainMapLTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainMapLTypeDefn final
 {
@@ -1367,14 +1380,14 @@ class PlainMapLTypeDefn final
      * @brief Copy assignment.
      * @param x Reference to the object PlainMapLTypeDefn that will be copied.
      */
-    RTPS_DllAPI PlainMapLTypeDefn& operator=(
+    RTPS_DllAPI PlainMapLTypeDefn& operator =(
             const PlainMapLTypeDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object PlainMapLTypeDefn that will be copied.
      */
-    RTPS_DllAPI PlainMapLTypeDefn& operator=(
+    RTPS_DllAPI PlainMapLTypeDefn& operator =(
             PlainMapLTypeDefn&& x);
 
     /*!
@@ -1414,6 +1427,7 @@ class PlainMapLTypeDefn final
     {
         return m_header;
     }
+
     /*!
      * @brief This function sets a value in member bound
      * @param _bound New value for member bound
@@ -1441,6 +1455,7 @@ class PlainMapLTypeDefn final
     {
         return m_bound;
     }
+
     /*!
      * @brief This function sets a value in member element_identifier
      * @param _element_identifier New value for member element_identifier
@@ -1465,6 +1480,7 @@ class PlainMapLTypeDefn final
     {
         return m_element_identifier;
     }
+
     /*!
      * @brief This function sets a value in member key_flags
      * @param _key_flags New value for member key_flags
@@ -1492,6 +1508,7 @@ class PlainMapLTypeDefn final
     {
         return m_key_flags;
     }
+
     /*!
      * @brief This function sets a value in member key_identifier
      * @param _key_identifier New value for member key_identifier
@@ -1556,7 +1573,7 @@ class PlainMapLTypeDefn final
 };
 /*!
  * @brief This class represents the structure StronglyConnectedComponentId defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StronglyConnectedComponentId final
 {
@@ -1590,14 +1607,14 @@ class StronglyConnectedComponentId final
      * @brief Copy assignment.
      * @param x Reference to the object StronglyConnectedComponentId that will be copied.
      */
-    RTPS_DllAPI StronglyConnectedComponentId& operator=(
+    RTPS_DllAPI StronglyConnectedComponentId& operator =(
             const StronglyConnectedComponentId& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object StronglyConnectedComponentId that will be copied.
      */
-    RTPS_DllAPI StronglyConnectedComponentId& operator=(
+    RTPS_DllAPI StronglyConnectedComponentId& operator =(
             StronglyConnectedComponentId&& x);
 
     /*!
@@ -1637,6 +1654,7 @@ class StronglyConnectedComponentId final
     {
         return m_sc_component_id;
     }
+
     /*!
      * @brief This function sets a value in member scc_length
      * @param _scc_length New value for member scc_length
@@ -1664,6 +1682,7 @@ class StronglyConnectedComponentId final
     {
         return m_scc_length;
     }
+
     /*!
      * @brief This function sets a value in member scc_index
      * @param _scc_index New value for member scc_index
@@ -1729,7 +1748,7 @@ class StronglyConnectedComponentId final
 };
 /*!
  * @brief This class represents the structure ExtendedTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class ExtendedTypeDefn final
 {
@@ -1763,14 +1782,14 @@ class ExtendedTypeDefn final
      * @brief Copy assignment.
      * @param x Reference to the object ExtendedTypeDefn that will be copied.
      */
-    RTPS_DllAPI virtual ExtendedTypeDefn& operator=(
+    RTPS_DllAPI virtual ExtendedTypeDefn& operator =(
             const ExtendedTypeDefn& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object ExtendedTypeDefn that will be copied.
      */
-    RTPS_DllAPI virtual ExtendedTypeDefn& operator=(
+    RTPS_DllAPI virtual ExtendedTypeDefn& operator =(
             ExtendedTypeDefn&& x);
 
     /*!
diff --git a/include/fastrtps/types/TypeObjectHashId.h b/include/fastrtps/types/TypeObjectHashId.h
index dda63fb4d2f..6f94195d84d 100644
--- a/include/fastrtps/types/TypeObjectHashId.h
+++ b/include/fastrtps/types/TypeObjectHashId.h
@@ -28,13 +28,11 @@
 #include <string>
 #include <vector>
 
-namespace eprosima
-{
-    namespace fastcdr
-    {
-        class Cdr;
-    }
-}
+namespace eprosima {
+namespace fastcdr {
+class Cdr;
+} // namespace fastcdr
+} // namespace eprosima
 
 // The types in this file shall be serialized with XCDR encoding version 2
 namespace eprosima {
@@ -48,7 +46,7 @@ typedef octet EquivalenceHash[14];
 
 /*!
  * @brief This class represents the union TypeObjectHashId defined by the user in the IDL file.
- * @ingroup TYPEOBJECTHASHID
+ * @ingroup TYPES_MODULE
  */
 class TypeObjectHashId
 {
@@ -68,32 +66,37 @@ class TypeObjectHashId
      * @brief Copy constructor.
      * @param x Reference to the object TypeObjectHashId that will be copied.
      */
-    TypeObjectHashId(const TypeObjectHashId &x);
+    TypeObjectHashId(
+            const TypeObjectHashId& x);
 
     /*!
      * @brief Move constructor.
      * @param x Reference to the object TypeObjectHashId that will be copied.
      */
-    TypeObjectHashId(TypeObjectHashId &&x);
+    TypeObjectHashId(
+            TypeObjectHashId&& x);
 
     /*!
      * @brief Copy assignment.
      * @param x Reference to the object TypeObjectHashId that will be copied.
      */
-    TypeObjectHashId& operator=(const TypeObjectHashId &x);
+    TypeObjectHashId& operator =(
+            const TypeObjectHashId& x);
 
     /*!
      * @brief Move assignment.
      * @param x Reference to the object TypeObjectHashId that will be copied.
      */
-    TypeObjectHashId& operator=(TypeObjectHashId &&x);
+    TypeObjectHashId& operator =(
+            TypeObjectHashId&& x);
 
     /*!
      * @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.
      */
-    void _d(uint8_t __d);
+    void _d(
+            uint8_t __d);
 
     /*!
      * @brief This function returns the value of the discriminator.
@@ -111,13 +114,15 @@ class TypeObjectHashId
      * @brief This function copies the value in member hash
      * @param _hash New value to be copied in member hash
      */
-    void hash(const EquivalenceHash &_hash);
+    void hash(
+            const EquivalenceHash& _hash);
 
     /*!
      * @brief This function moves the value in member hash
      * @param _hash New value to be moved in member hash
      */
-    void hash(EquivalenceHash &&_hash);
+    void hash(
+            EquivalenceHash&& _hash);
 
     /*!
      * @brief This function returns a constant reference to member hash
@@ -139,20 +144,24 @@ class TypeObjectHashId
      * @param current_alignment Buffer alignment.
      * @return Serialized size.
      */
-    static size_t getCdrSerializedSize(const TypeObjectHashId& data, size_t current_alignment = 0);
+    static size_t getCdrSerializedSize(
+            const TypeObjectHashId& data,
+            size_t current_alignment = 0);
 
 
     /*!
      * @brief This function serializes an object using CDR serialization.
      * @param cdr CDR serialization object.
      */
-    void serialize(eprosima::fastcdr::Cdr &cdr) const;
+    void serialize(
+            eprosima::fastcdr::Cdr& cdr) const;
 
     /*!
      * @brief This function deserializes an object using CDR serialization.
      * @param cdr CDR serialization object.
      */
-    void deserialize(eprosima::fastcdr::Cdr &cdr);
+    void deserialize(
+            eprosima::fastcdr::Cdr& cdr);
 
 
 
@@ -162,7 +171,8 @@ class TypeObjectHashId
      * @param current_alignment Buffer alignment.
      * @return Maximum serialized size.
      */
-    static size_t getKeyMaxCdrSerializedSize(size_t current_alignment = 0);
+    static size_t getKeyMaxCdrSerializedSize(
+            size_t current_alignment = 0);
 
     /*!
      * @brief This function tells you if the Key has been defined for this type
@@ -173,9 +183,11 @@ class TypeObjectHashId
      * @brief This function serializes the key members of an object using CDR serialization.
      * @param cdr CDR serialization object.
      */
-    void serializeKey(eprosima::fastcdr::Cdr &cdr) const;
+    void serializeKey(
+            eprosima::fastcdr::Cdr& cdr) const;
 
 private:
+
     uint8_t m__d;
 
     EquivalenceHash m_hash;
diff --git a/include/fastrtps/xmlparser/XMLEndpointParser.h b/include/fastrtps/xmlparser/XMLEndpointParser.h
index 89d11cc44fc..d540b857a8e 100644
--- a/include/fastrtps/xmlparser/XMLEndpointParser.h
+++ b/include/fastrtps/xmlparser/XMLEndpointParser.h
@@ -75,7 +75,7 @@ class StaticRTPSParticipantInfo
 
 /**
  * Class XMLEndpointParser used to parse the XML file that contains information about remote endpoints.
- * @ingroup DISCVOERYMODULE
+ * @ingroup DISCOVERY_MODULE
  */
 class XMLEndpointParser : XMLParser
 {
diff --git a/include/fastrtps/xmlparser/XMLProfileManager.h b/include/fastrtps/xmlparser/XMLProfileManager.h
index 83f3bf191a4..49d07832b79 100644
--- a/include/fastrtps/xmlparser/XMLProfileManager.h
+++ b/include/fastrtps/xmlparser/XMLProfileManager.h
@@ -50,7 +50,7 @@ using xmlfile_map_iterator_t = xmlfiles_map_t::iterator;
 
 /**
  * Class XMLProfileManager, used to make available profiles from XML file.
- * @ingroup XMLPROFILEMANAGER_MODULE
+ * @ingroup XMLPARSER_MODULE
  */
 class XMLProfileManager
 {