diff --git a/configure.ac b/configure.ac
index ae41fbdc433..e2f86dfee6e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -57,6 +57,14 @@ AC_C_BIGENDIAN(
   AC_MSG_ERROR(universial endianess not supported)
 )
 
+# OpenSSL
+AX_CHECK_OPENSSL(ac_openssl_found=yes,
+                 ac_openssl_found=no)
+
+AS_IF([test "$ac_openssl_found" = yes],
+     AC_DEFINE([TLS_FOUND], [1], [Defined if TLS support is enable]),
+     AC_DEFINE([TLS_FOUND], [0], [Defined if TLS support is enable]))
+
 # Security
 AC_ARG_ENABLE([security],
     AS_HELP_STRING([--enable-security], [Enables security support]),
@@ -64,11 +72,10 @@ AC_ARG_ENABLE([security],
     ac_enable_security=no
     )
 AS_IF([test "$ac_enable_security" = yes],
-    [
-     AC_DEFINE([HAVE_SECURITY], [1], [Defined if security support is enable])
-     AX_CHECK_OPENSSL([AC_MSG_NOTICE([Found OpenSSL])], [AC_MSG_ERROR([Could not find OpenSSL])])
-    ],
-    [AC_DEFINE([HAVE_SECURITY], [0], [Defined if security support is enable])])
+    AS_IF([test "$ac_openssl_found" = yes],
+        AC_DEFINE([HAVE_SECURITY], [1], [Defined if security support is enable]),
+        AC_MSG_ERROR([To support security you need OpenSSL libraries])),
+    AC_DEFINE([HAVE_SECURITY], [0], [Defined if security support is enable]))
 AM_CONDITIONAL(SECURITY, test $ac_enable_security = yes)
 
 # Check for libraries used in the main build process
diff --git a/examples/C++/ClientServerTest/Makefile b/examples/C++/ClientServerTest/Makefile
index 10f2a29d88a..95e006366ae 100644
--- a/examples/C++/ClientServerTest/Makefile
+++ b/examples/C++/ClientServerTest/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/Configurability/Makefile b/examples/C++/Configurability/Makefile
index f45a1b634f6..6906e41fd13 100644
--- a/examples/C++/Configurability/Makefile
+++ b/examples/C++/Configurability/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/DeadlineQoSExample/Makefile b/examples/C++/DeadlineQoSExample/Makefile
index c847c3fe948..544f7673fd2 100644
--- a/examples/C++/DeadlineQoSExample/Makefile
+++ b/examples/C++/DeadlineQoSExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I../../../thirdparty/asio/asio/include
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
@@ -42,15 +42,14 @@ all: $(DIRECTORIES) DeadlineQoSExample
 
 DEADLINEQOSEXAMPLE_TARGET= bin/DeadlineQoSExample
 
-DEADLINEQOSEXAMPLE_SRC_CXXFILES=
+DEADLINEQOSEXAMPLE_SRC_CXXFILES= DeadlineQoSExample/deadlinepayload.cxx \
+				 DeadlineQoSExample/deadlinepayloadPubSubTypes.cxx \
+				 DeadlineQoSExample/deadlinepayloadPublisher.cxx \
+				 DeadlineQoSExample/deadlinepayloadSubscriber.cxx \
+				 DeadlineQoSExample/deadlinepayloadPubSubMain.cxx
 
-DEADLINEQOSEXAMPLE_SRC_CPPFILES= DeadlineQoSExample/deadlinepayload.cxx \
-								DeadlineQoSExample/deadlinepayloadPubSubTypes.cxx \
-								DeadlineQoSExample/deadlinepayloadPublisher.cxx \
-								DeadlineQoSExample/deadlinepayloadSubscriber.cxx \
-								DeadlineQoSExample/deadlinepayloadPubSubMain.cxx \
-								DeadlineQoSExample/deadlineQoS.cxx
 
+DEADLINEQOSEXAMPLE_SRC_CPPFILES= 
 
 # Project sources are copied to the current directory
 DEADLINEQOSEXAMPLE_SRCS= $(DEADLINEQOSEXAMPLE_SRC_CXXFILES) $(DEADLINEQOSEXAMPLE_SRC_CPPFILES)
diff --git a/examples/C++/DisablePositiveACKs/Makefile b/examples/C++/DisablePositiveACKs/Makefile
new file mode 100644
index 00000000000..5e99f701a1b
--- /dev/null
+++ b/examples/C++/DisablePositiveACKs/Makefile
@@ -0,0 +1,103 @@
+# Copyright 2019 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.
+
+CPP=g++
+LN=g++
+AR=ar
+CP=cp
+SYSLIBS= -ldl -lnsl -lm -lpthread -lrt
+DEFINES=
+COMMON_CFLAGS= -c -Wall -D__LITTLE_ENDIAN__ -std=c++11
+
+## CHOOSE HERE BETWEEN 32 and 64 bit architecture
+
+##32 BIT ARCH:
+#COMMON_CFLAGS+= -m32 -fpic
+#LDFLAGS=-m32
+
+#64BIT ARCH:
+COMMON_CFLAGS+= -m64 -fpic
+LDFLAGS=-m64
+
+CFLAGS = $(COMMON_CFLAGS) -O2
+
+INCLUDES= -I../../../thirdparty/asio/asio/include
+
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
+
+DIRECTORIES= output.dir bin.dir
+
+all: $(DIRECTORIES) DisablePositiveACKs
+
+DISABLEPOSITIVEACKSEXAMPLE_TARGET= bin/DisablePositiveACKs
+
+DISABLEPOSITIVEACKSEXAMPLE_SRC_CXXFILES= \
+DisablePositiveACKs/Topic.cxx \
+DisablePositiveACKs/TopicTypes.cxx
+
+DISABLEPOSITIVEACKSEXAMPLE_SRC_CPPFILES= \
+DisablePositiveACKs/DisablePositiveACKsPublisher.cpp \
+DisablePositiveACKs/DisablePositiveACKsSubscriber.cpp \
+DisablePositiveACKs/DisablePositiveACKS_main.cpp
+
+
+# Project sources are copied to the current directory
+DISABLEPOSITIVEACKSEXAMPLE_SRCS= $(DISABLEPOSITIVEACKSEXAMPLE_SRC_CXXFILES) $(DISABLEPOSITIVEACKSEXAMPLE_SRC_CPPFILES)
+
+# Source directories
+DISABLEPOSITIVEACKSEXAMPLE_SOURCES_DIRS_AUX= $(foreach srcdir, $(dir $(DISABLEPOSITIVEACKSEXAMPLE_SRCS)), $(srcdir))
+DISABLEPOSITIVEACKSEXAMPLE_SOURCES_DIRS= $(shell echo $(DISABLEPOSITIVEACKSEXAMPLE_SOURCES_DIRS_AUX) | tr " " "\n" | sort | uniq | tr "\n" " ")
+
+DISABLEPOSITIVEACKSEXAMPLE_OBJS = $(foreach obj,$(notdir $(addsuffix .o, $(DISABLEPOSITIVEACKSEXAMPLE_SRCS))), output/$(obj))
+DISABLEPOSITIVEACKSEXAMPLE_DEPS = $(foreach dep,$(notdir $(addsuffix .d, $(DISABLEPOSITIVEACKSEXAMPLE_SRCS))), output/$(dep))
+
+OBJS+=  $(DISABLEPOSITIVEACKSEXAMPLE_OBJS)
+DEPS+=  $(DISABLEPOSITIVEACKSEXAMPLE_DEPS)
+
+DisablePositiveACKs: $(DISABLEPOSITIVEACKSEXAMPLE_TARGET)
+
+$(DISABLEPOSITIVEACKSEXAMPLE_TARGET): $(DISABLEPOSITIVEACKSEXAMPLE_OBJS)
+	$(LN) $(LDFLAGS) -o $(DISABLEPOSITIVEACKSEXAMPLE_TARGET) $(DISABLEPOSITIVEACKSEXAMPLE_OBJS) $(LIBS)
+
+vpath %.cxx $(DISABLEPOSITIVEACKSEXAMPLE_SOURCES_DIRS)
+vpath %.cpp $(DISABLEPOSITIVEACKSEXAMPLE_SOURCES_DIRS)
+
+output/%.cxx.o:%.cxx
+	@echo Calculating dependencies $<
+	@$(CC) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cxx.o=%.cxx.d)
+	@echo Compiling $<
+	@$(CC) $(CFLAGS) $(INCLUDES) $< -o $@
+
+output/%.cpp.o:%.cpp
+	@echo Calculating dependencies $<
+	@$(CPP) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cpp.o=%.cpp.d)
+	@echo Compiling $<
+	@$(CPP) $(CFLAGS) $(INCLUDES) $< -o $@
+
+.PHONY: DisablePositiveACKs
+
+clean:
+	@rm -f $(OBJS)
+	@rm -f $(DEPS)
+
+ifneq ($(MAKECMDGOALS), clean)
+-include $(DEPS)
+endif
+
+%.dir :
+	@echo "Checking directory $*"
+	@if [ ! -d $* ]; then \
+		echo "Making directory $*"; \
+		mkdir -p $* ; \
+	fi;
diff --git a/examples/C++/DynamicHelloWorldExample/Makefile b/examples/C++/DynamicHelloWorldExample/Makefile
new file mode 100644
index 00000000000..ca2d5485e02
--- /dev/null
+++ b/examples/C++/DynamicHelloWorldExample/Makefile
@@ -0,0 +1,100 @@
+# 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.
+
+CPP=g++
+LN=g++
+AR=ar
+CP=cp
+SYSLIBS= -ldl -lnsl -lm -lpthread -lrt
+DEFINES=
+COMMON_CFLAGS= -c -Wall -D__LITTLE_ENDIAN__ -std=c++11
+
+## CHOOSE HERE BETWEEN 32 and 64 bit architecture
+
+##32 BIT ARCH:
+#COMMON_CFLAGS+= -m32 -fpic
+#LDFLAGS=-m32
+
+#64BIT ARCH:
+COMMON_CFLAGS+= -m64 -fpic
+LDFLAGS=-m64
+
+CFLAGS = $(COMMON_CFLAGS) -O2
+
+INCLUDES= -I../../../thirdparty/asio/asio/include
+
+LIBS = -lfastrtps -lfastcdr $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
+
+DIRECTORIES= output.dir bin.dir
+
+all: $(DIRECTORIES) DynamicHelloWorldExample
+
+DYNAMICEXAMPLE_TARGET= bin/DynamicHelloWorldExample
+
+DYNAMICEXAMPLE_SRC_CXXFILES=
+
+DYNAMICEXAMPLE_SRC_CPPFILES= \
+			     DynamicHelloWorldExample/HelloWorldPublisher.cpp \
+			     DynamicHelloWorldExample/HelloWorldSubscriber.cpp \
+			     DynamicHelloWorldExample/HelloWorld_main.cpp
+
+# Project sources are copied to the current directory
+DYNAMICEXAMPLE_SRCS= $(DYNAMICEXAMPLE_SRC_CXXFILES) $(DYNAMICEXAMPLE_SRC_CPPFILES)
+
+# Source directories
+DYNAMICEXAMPLE_SOURCES_DIRS_AUX= $(foreach srcdir, $(dir $(DYNAMICEXAMPLE_SRCS)), $(srcdir))
+DYNAMICEXAMPLE_SOURCES_DIRS= $(shell echo $(DYNAMICEXAMPLE_SOURCES_DIRS_AUX) | tr " " "\n" | sort | uniq | tr "\n" " ")
+
+DYNAMICEXAMPLE_OBJS = $(foreach obj,$(notdir $(addsuffix .o, $(DYNAMICEXAMPLE_SRCS))), output/$(obj))
+DYNAMICEXAMPLE_DEPS = $(foreach dep,$(notdir $(addsuffix .d, $(DYNAMICEXAMPLE_SRCS))), output/$(dep))
+
+OBJS+=  $(DYNAMICEXAMPLE_OBJS)
+DEPS+=  $(DYNAMICEXAMPLE_DEPS)
+
+DynamicHelloWorldExample: $(DYNAMICEXAMPLE_TARGET)
+
+$(DYNAMICEXAMPLE_TARGET): $(DYNAMICEXAMPLE_OBJS)
+	$(LN) $(LDFLAGS) -o $(DYNAMICEXAMPLE_TARGET) $(DYNAMICEXAMPLE_OBJS) $(LIBS)
+
+vpath %.cxx $(DYNAMICEXAMPLE_SOURCES_DIRS)
+vpath %.cpp $(DYNAMICEXAMPLE_SOURCES_DIRS)
+
+output/%.cxx.o:%.cxx
+	@echo Calculating dependencies $<
+	@$(CC) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cxx.o=%.cxx.d)
+	@echo Compiling $<
+	@$(CC) $(CFLAGS) $(INCLUDES) $< -o $@
+
+output/%.cpp.o:%.cpp
+	@echo Calculating dependencies $<
+	@$(CPP) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cpp.o=%.cpp.d)
+	@echo Compiling $<
+	@$(CPP) $(CFLAGS) $(INCLUDES) $< -o $@
+
+.PHONY: DynamicHelloWorldExample
+
+clean:
+	@rm -f $(OBJS)
+	@rm -f $(DEPS)
+
+ifneq ($(MAKECMDGOALS), clean)
+-include $(DEPS)
+endif
+
+%.dir :
+	@echo "Checking directory $*"
+	@if [ ! -d $* ]; then \
+		echo "Making directory $*"; \
+		mkdir -p $* ; \
+	fi;
diff --git a/examples/C++/Filtering/Makefile b/examples/C++/Filtering/Makefile
index 790cd5d0403..85e2194327b 100644
--- a/examples/C++/Filtering/Makefile
+++ b/examples/C++/Filtering/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/FlowControlExample/Makefile b/examples/C++/FlowControlExample/Makefile
index ee44958e740..98be4917a31 100644
--- a/examples/C++/FlowControlExample/Makefile
+++ b/examples/C++/FlowControlExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/HelloWorldExample/Makefile b/examples/C++/HelloWorldExample/Makefile
index 9f9ec9ddbf7..615002f781d 100644
--- a/examples/C++/HelloWorldExample/Makefile
+++ b/examples/C++/HelloWorldExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/HelloWorldExampleTCP/Makefile b/examples/C++/HelloWorldExampleTCP/Makefile
index c9be5753faf..5ff7ed979d0 100644
--- a/examples/C++/HelloWorldExampleTCP/Makefile
+++ b/examples/C++/HelloWorldExampleTCP/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/HistoryKind/Makefile b/examples/C++/HistoryKind/Makefile
index 6059be7fc4f..8bc6cbbaaf8 100644
--- a/examples/C++/HistoryKind/Makefile
+++ b/examples/C++/HistoryKind/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/Keys/Makefile b/examples/C++/Keys/Makefile
index a5995920ea1..3736874806c 100644
--- a/examples/C++/Keys/Makefile
+++ b/examples/C++/Keys/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/LateJoiners/Makefile b/examples/C++/LateJoiners/Makefile
index bc10002d366..4d2de45372f 100644
--- a/examples/C++/LateJoiners/Makefile
+++ b/examples/C++/LateJoiners/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/LifespanQoSExample/Makefile b/examples/C++/LifespanQoSExample/Makefile
new file mode 100644
index 00000000000..853010a2ded
--- /dev/null
+++ b/examples/C++/LifespanQoSExample/Makefile
@@ -0,0 +1,102 @@
+# Copyright 2019 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.
+
+CPP=g++
+LN=g++
+AR=ar
+CP=cp
+SYSLIBS= -ldl -lnsl -lm -lpthread -lrt
+DEFINES=
+COMMON_CFLAGS= -c -Wall -D__LITTLE_ENDIAN__ -std=c++11
+
+## CHOOSE HERE BETWEEN 32 and 64 bit architecture
+
+##32 BIT ARCH:
+#COMMON_CFLAGS+= -m32 -fpic
+#LDFLAGS=-m32
+
+#64BIT ARCH:
+COMMON_CFLAGS+= -m64 -fpic
+LDFLAGS=-m64
+
+CFLAGS = $(COMMON_CFLAGS) -O2
+
+INCLUDES= -I../../../thirdparty/asio/asio/include
+
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
+
+DIRECTORIES= output.dir bin.dir
+
+all: $(DIRECTORIES) LifespanQoSExample
+
+LIFESPANEXAMPLE_TARGET= bin/LifespanQoSExample
+
+LIFESPANEXAMPLE_SRC_CXXFILES= \
+			      LifespanQoSExample/Lifespan.cxx \
+			      LifespanQoSExample/LifespanTypes.cxx
+
+LIFESPANEXAMPLE_SRC_CPPFILES= \
+LifespanQoSExample/LifespanPublisher.cpp \
+LifespanQoSExample/LifespanSubscriber.cpp \
+LifespanQoSExample/Lifespan_main.cpp
+
+# Project sources are copied to the current directory
+LIFESPANEXAMPLE_SRCS= $(LIFESPANEXAMPLE_SRC_CXXFILES) $(LIFESPANEXAMPLE_SRC_CPPFILES)
+
+# Source directories
+LIFESPANEXAMPLE_SOURCES_DIRS_AUX= $(foreach srcdir, $(dir $(LIFESPANEXAMPLE_SRCS)), $(srcdir))
+LIFESPANEXAMPLE_SOURCES_DIRS= $(shell echo $(LIFESPANEXAMPLE_SOURCES_DIRS_AUX) | tr " " "\n" | sort | uniq | tr "\n" " ")
+
+LIFESPANEXAMPLE_OBJS = $(foreach obj,$(notdir $(addsuffix .o, $(LIFESPANEXAMPLE_SRCS))), output/$(obj))
+LIFESPANEXAMPLE_DEPS = $(foreach dep,$(notdir $(addsuffix .d, $(LIFESPANEXAMPLE_SRCS))), output/$(dep))
+
+OBJS+=  $(LIFESPANEXAMPLE_OBJS)
+DEPS+=  $(LIFESPANEXAMPLE_DEPS)
+
+LifespanQoSExample: $(LIFESPANEXAMPLE_TARGET)
+
+$(LIFESPANEXAMPLE_TARGET): $(LIFESPANEXAMPLE_OBJS)
+	$(LN) $(LDFLAGS) -o $(LIFESPANEXAMPLE_TARGET) $(LIFESPANEXAMPLE_OBJS) $(LIBS)
+
+vpath %.cxx $(LIFESPANEXAMPLE_SOURCES_DIRS)
+vpath %.cpp $(LIFESPANEXAMPLE_SOURCES_DIRS)
+
+output/%.cxx.o:%.cxx
+	@echo Calculating dependencies $<
+	@$(CC) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cxx.o=%.cxx.d)
+	@echo Compiling $<
+	@$(CC) $(CFLAGS) $(INCLUDES) $< -o $@
+
+output/%.cpp.o:%.cpp
+	@echo Calculating dependencies $<
+	@$(CPP) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cpp.o=%.cpp.d)
+	@echo Compiling $<
+	@$(CPP) $(CFLAGS) $(INCLUDES) $< -o $@
+
+.PHONY: LifespanQoSExample
+
+clean:
+	@rm -f $(OBJS)
+	@rm -f $(DEPS)
+
+ifneq ($(MAKECMDGOALS), clean)
+-include $(DEPS)
+endif
+
+%.dir :
+	@echo "Checking directory $*"
+	@if [ ! -d $* ]; then \
+		echo "Making directory $*"; \
+		mkdir -p $* ; \
+	fi;
diff --git a/examples/C++/OwnershipStrengthQoSExample/Makefile b/examples/C++/OwnershipStrengthQoSExample/Makefile
index da797adb704..7b04865df5b 100644
--- a/examples/C++/OwnershipStrengthQoSExample/Makefile
+++ b/examples/C++/OwnershipStrengthQoSExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/RTPSTest_as_socket/Makefile b/examples/C++/RTPSTest_as_socket/Makefile
index be265dd505f..156d03bc1ec 100644
--- a/examples/C++/RTPSTest_as_socket/Makefile
+++ b/examples/C++/RTPSTest_as_socket/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/RTPSTest_registered/Makefile b/examples/C++/RTPSTest_registered/Makefile
index cd36e226de9..35c15221df4 100644
--- a/examples/C++/RTPSTest_registered/Makefile
+++ b/examples/C++/RTPSTest_registered/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/SampleConfig_Controller/Makefile b/examples/C++/SampleConfig_Controller/Makefile
index 15ef0d13924..1d5c79ab249 100644
--- a/examples/C++/SampleConfig_Controller/Makefile
+++ b/examples/C++/SampleConfig_Controller/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/SampleConfig_Events/Makefile b/examples/C++/SampleConfig_Events/Makefile
index be68b64ccee..13f9c2b3985 100644
--- a/examples/C++/SampleConfig_Events/Makefile
+++ b/examples/C++/SampleConfig_Events/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/SampleConfig_Multimedia/Makefile b/examples/C++/SampleConfig_Multimedia/Makefile
index eea1e884bc7..98cce992ab0 100644
--- a/examples/C++/SampleConfig_Multimedia/Makefile
+++ b/examples/C++/SampleConfig_Multimedia/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/SecureHelloWorldExample/Makefile b/examples/C++/SecureHelloWorldExample/Makefile
index 824023a01e8..bc3c7eb4355 100644
--- a/examples/C++/SecureHelloWorldExample/Makefile
+++ b/examples/C++/SecureHelloWorldExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps -lcrypto -lssl $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/StaticHelloWorldExample/Makefile b/examples/C++/StaticHelloWorldExample/Makefile
index abb450ade6e..bf309132ed7 100644
--- a/examples/C++/StaticHelloWorldExample/Makefile
+++ b/examples/C++/StaticHelloWorldExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/UserDefinedTransportExample/Makefile b/examples/C++/UserDefinedTransportExample/Makefile
index d5a2a6d45ba..4963774a04d 100644
--- a/examples/C++/UserDefinedTransportExample/Makefile
+++ b/examples/C++/UserDefinedTransportExample/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/examples/C++/XMLProfiles/Makefile b/examples/C++/XMLProfiles/Makefile
index 053dac0a7ca..ce2055ddc43 100644
--- a/examples/C++/XMLProfiles/Makefile
+++ b/examples/C++/XMLProfiles/Makefile
@@ -34,7 +34,7 @@ CFLAGS = $(COMMON_CFLAGS) -O2
 
 INCLUDES= -I.
 
-LIBS = -lfastcdr -lfastrtps $(SYSLIBS)
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
 
 DIRECTORIES= output.dir bin.dir
 
diff --git a/fastrtpsgen/src/main/java/com/eprosima/fastrtps/idl/templates/makefile.stg b/fastrtpsgen/src/main/java/com/eprosima/fastrtps/idl/templates/makefile.stg
index 6f2dbc85148..ccad6f692f4 100644
--- a/fastrtpsgen/src/main/java/com/eprosima/fastrtps/idl/templates/makefile.stg
+++ b/fastrtpsgen/src/main/java/com/eprosima/fastrtps/idl/templates/makefile.stg
@@ -25,7 +25,7 @@ DEFINES= $solution.defines : {define | -D$define$};separator=" "$
 
 INCLUDES= -I. $solution.includes : {include | -I$include$};separator=" "$
 
-LIBS = $solution.libraryPaths : {path |-L$path$};separator=" "$ $solution.libraries : {library |-l$library$};separator=" "$ \$(SYSLIBS)
+LIBS = $solution.libraryPaths : {path |-L$path$};separator=" "$ $solution.libraries : {library |-l$library$};separator=" "$ \$(shell test -x "\$\$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) \$(SYSLIBS)
 
 DIRECTORIES= output.dir output/$example$.dir lib.dir lib/$example$.dir bin.dir bin/$example$.dir
 
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 61ae93b2e6d..95a35332bbf 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -34,6 +34,10 @@ if(EPROSIMA_BUILD_TESTS AND IS_TOP_LEVEL AND NOT EPROSIMA_INSTALLER)
     add_subdirectory(blackbox)
     add_subdirectory(communication)
     add_subdirectory(unittest)
+
+    if(UNIX AND NOT APPLE)
+        add_subdirectory(realtime)
+    endif()
 endif()
 
 ###############################################################################
@@ -52,7 +56,3 @@ endif()
 if(PERFORMANCE_TESTS)
     add_subdirectory(performance)
 endif()
-
-if(UNIX AND NOT APPLE)
-    add_subdirectory(realtime)
-endif()