diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 3b376b9cc..744eb7b6e 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -38,8 +38,8 @@ find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastrtps 2.3 REQUIRED CONFIG)
+find_package(FastRTPS 2.3 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp
index c2ffac1ff..69af229a2 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/get_subscriber.hpp
@@ -22,12 +22,12 @@
 namespace rmw_fastrtps_cpp
 {
 
-/// Return a native Fast DDS subscriber handle.
+/// Return a native Fast DDS DataReader handle.
 /**
  * The function returns `NULL` when either the subscription handle is `NULL` or
  * when the subscription handle is from a different rmw implementation.
  *
- * \return native Fast DDS subscriber handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataReader handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_CPP_PUBLIC
 eprosima::fastdds::dds::DataReader *
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
index a569d5595..037930f55 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/publisher.hpp
@@ -28,7 +28,7 @@ create_publisher(
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
   const rmw_publisher_options_t * publisher_options,
-  bool keyed,  // unused
+  bool keyed,
   bool create_publisher_listener);
 }  // namespace rmw_fastrtps_cpp
 
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
index 8f66b56fa..3413cea4c 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/subscription.hpp
@@ -30,7 +30,7 @@ create_subscription(
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
   const rmw_subscription_options_t * subscription_options,
-  bool keyed,  // unused
+  bool keyed,
   bool create_subscription_listener);
 }  // namespace rmw_fastrtps_cpp
 
diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
index cb1058edb..7920dd1aa 100644
--- a/rmw_fastrtps_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -15,12 +15,15 @@
 
 #include <string>
 
+#include "fastdds/dds/core/policy/QosPolicies.hpp"
 #include "fastdds/dds/domain/DomainParticipant.hpp"
 #include "fastdds/dds/publisher/Publisher.hpp"
 #include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 #include "fastdds/dds/topic/Topic.hpp"
+#include "fastdds/dds/topic/TopicDescription.hpp"
 #include "fastdds/dds/topic/qos/TopicQos.hpp"
+#include "fastdds/rtps/resources/ResourceManagement.h"
 
 #include "rcutils/error_handling.h"
 #include "rcutils/macros.h"
@@ -56,8 +59,6 @@ rmw_fastrtps_cpp::create_publisher(
   bool keyed,
   bool create_publisher_listener)
 {
-  (void)keyed;
-
   /////
   // Check input parameters
   RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
@@ -66,7 +67,7 @@ rmw_fastrtps_cpp::create_publisher(
   RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
   if (0 == strlen(topic_name)) {
-    RMW_SET_ERROR_MSG("topic_name argument is an empty string");
+    RMW_SET_ERROR_MSG("create_publisher() called with an empty topic_name argument");
     return nullptr;
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);
@@ -78,7 +79,8 @@ rmw_fastrtps_cpp::create_publisher(
     }
     if (RMW_TOPIC_VALID != validation_result) {
       const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
-      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("invalid topic name: %s", reason);
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "create_publisher() called with invalid topic name: %s", reason);
       return nullptr;
     }
   }
@@ -87,7 +89,7 @@ rmw_fastrtps_cpp::create_publisher(
   /////
   // Check RMW QoS
   if (!is_valid_qos(*qos_policies)) {
-    RMW_SET_ERROR_MSG("Invalid QoS");
+    RMW_SET_ERROR_MSG("create_publisher() called with invalid QoS");
     return nullptr;
   }
 
@@ -146,9 +148,9 @@ rmw_fastrtps_cpp::create_publisher(
       topic_name_mangled.c_str(), type_name.c_str());
     return nullptr;
   }
-
+  
   /////
-  // Create the RMW Publisher struct (info)
+  // Create the custom Publisher struct (info)
   CustomPublisherInfo * info = nullptr;
 
   info = new (std::nothrow) CustomPublisherInfo();
@@ -177,6 +179,11 @@ rmw_fastrtps_cpp::create_publisher(
     // Transfer ownership to fastdds_type
     fastdds_type.reset(tsupport);
   }
+  
+  if (keyed && !fastdds_type->m_isGetKeyDefined) {
+    RMW_SET_ERROR_MSG("create_publisher() requested a keyed topic with a non-keyed type");
+    return nullptr;
+  }
 
   if (ReturnCode_t::RETCODE_OK != fastdds_type.register_type(domainParticipant)) {
     RMW_SET_ERROR_MSG("create_publisher() failed to register type");
@@ -207,38 +214,50 @@ rmw_fastrtps_cpp::create_publisher(
 
   /////
   // Create and register Topic
+  bool topic_created = false;
+  eprosima::fastdds::dds::Topic * topic = nullptr;
   if (!des_topic) {
     // Use Topic Qos Default
     eprosima::fastdds::dds::TopicQos topicQos = domainParticipant->get_default_topic_qos();
 
     if (!get_topic_qos(*qos_policies, topicQos)) {
-      RMW_SET_ERROR_MSG("Error setting topic QoS for publisher");
+      RMW_SET_ERROR_MSG("create_publisher() failed setting topic QoS for publisher");
       return nullptr;
     }
 
-    des_topic = domainParticipant->create_topic(
+    topic = domainParticipant->create_topic(
       topic_name_mangled,
       type_name,
       topicQos);
 
-    if (!des_topic) {
+    if (!topic) {
       RMW_SET_ERROR_MSG("create_publisher() failed to create topic");
       return nullptr;
     }
+    
+    topic_created = true;
   }
-
-  eprosima::fastdds::dds::Topic * topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(des_topic);
-  if (!topic) {
-    RMW_SET_ERROR_MSG("create_publisher() failed, publisher topic can only be of class Topic");
-    return nullptr;
+  else {
+    topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(des_topic);
+    if (!topic) {
+      RMW_SET_ERROR_MSG("create_publisher() failed, publisher topic can only be of class Topic");
+      return nullptr;
+    }      
   }
 
+  auto cleanup_topic = rcpputils::make_scope_exit(
+    [domainParticipant, topic, topic_created]() {
+      if (topic_created) {
+        domainParticipant->delete_topic(topic);
+      }
+    });
+
   /////
   // Create DataWriter
 
   // If the user defined an XML file via env "FASTRTPS_DEFAULT_PROFILES_FILE", try to load
   // datawriter which profile name matches with topic_name. If such profile does not exist,
-  // then use the default QoS.
+  // then use the default Fast DDS QoS.
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile with the topic name
@@ -258,12 +277,13 @@ rmw_fastrtps_cpp::create_publisher(
       eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   }
 
-  // Get QoS from ROS
+  // Get QoS from RMW
   if (!get_datawriter_qos(*qos_policies, dataWriterQos)) {
+    RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
     return nullptr;
   }
 
-  // Creates DataWriter (with publisher name to not change name policy)
+  // Creates DataWriter
   info->data_writer_ = publisher->create_datawriter(
     topic,
     dataWriterQos,
@@ -287,11 +307,9 @@ rmw_fastrtps_cpp::create_publisher(
 
   /////
   // Allocate publisher
-  rmw_publisher_t * rmw_publisher = nullptr;
-
-  rmw_publisher = rmw_publisher_allocate();
+  rmw_publisher_t * rmw_publisher = rmw_publisher_allocate();
   if (!rmw_publisher) {
-    RMW_SET_ERROR_MSG("failed to allocate publisher");
+    RMW_SET_ERROR_MSG("create_publisher() failed to allocate rmw_publisher");
     return nullptr;
   }
   auto cleanup_rmw_publisher = rcpputils::make_scope_exit(
@@ -300,12 +318,13 @@ rmw_fastrtps_cpp::create_publisher(
       rmw_publisher_free(rmw_publisher);
     });
 
+  rmw_publisher->can_loan_messages = false;
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
 
   rmw_publisher->topic_name = static_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
   if (!rmw_publisher->topic_name) {
-    RMW_SET_ERROR_MSG("failed to allocate memory for publisher topic name");
+    RMW_SET_ERROR_MSG("create_publisher() failed to allocate memory for rmw_publisher topic name");
     return nullptr;
   }
   memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
@@ -314,6 +333,7 @@ rmw_fastrtps_cpp::create_publisher(
 
   cleanup_rmw_publisher.cancel();
   cleanup_datawriter.cancel();
+  cleanup_topic.cancel();
   cleanup_listener.cancel();
   cleanup_type_support.cancel();
   cleanup_info.cancel();
diff --git a/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp b/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp
index 8cf195c6b..7c91a4108 100644
--- a/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fastrtps/rtps/common/Guid.h"
-
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
 #include "rmw/types.h"
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 8603c6605..81ad0c1e7 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -86,7 +86,6 @@ rmw_create_publisher(
     true);
 
   if (!publisher) {
-    RMW_SET_ERROR_MSG("Publisher creation failed");
     return nullptr;
   }
 
diff --git a/rmw_fastrtps_cpp/src/type_support_common.hpp b/rmw_fastrtps_cpp/src/type_support_common.hpp
index 44da0ca7f..a86d45e1d 100644
--- a/rmw_fastrtps_cpp/src/type_support_common.hpp
+++ b/rmw_fastrtps_cpp/src/type_support_common.hpp
@@ -18,9 +18,6 @@
 #include <sstream>
 #include <string>
 
-#include "fastdds/dds/domain/DomainParticipant.hpp"
-#include "fastdds/dds/topic/TopicDataType.hpp"
-
 #include "rmw/error_handling.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index ec43fe20f..9e035a7de 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -38,8 +38,8 @@ find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastrtps 2.3 REQUIRED CONFIG)
+find_package(FastRTPS 2.3 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/get_subscriber.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/get_subscriber.hpp
index 24dfe6acd..34812e883 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/get_subscriber.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/get_subscriber.hpp
@@ -23,12 +23,12 @@
 namespace rmw_fastrtps_dynamic_cpp
 {
 
-/// Return a native FastRTPS subscriber handle.
+/// Return a native Fast DDS DataReader handle.
 /**
  * The function returns `NULL` when either the subscription handle is `NULL` or
  * when the subscription handle is from a different rmw implementation.
  *
- * \return native FastRTPS subscriber handle if successful, otherwise `NULL`
+ * \return native Fast DDS DataReader handle if successful, otherwise `NULL`
  */
 RMW_FASTRTPS_DYNAMIC_CPP_PUBLIC
 eprosima::fastdds::dds::DataReader *
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/publisher.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/publisher.hpp
index 4d419346c..4f98b6c14 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/publisher.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/publisher.hpp
@@ -28,7 +28,7 @@ create_publisher(
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
   const rmw_publisher_options_t * publisher_options,
-  bool keyed,  // unused
+  bool keyed,
   bool create_publisher_listener);
 
 }  // namespace rmw_fastrtps_dynamic_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/subscription.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/subscription.hpp
index 3113ca04c..0db879040 100644
--- a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/subscription.hpp
+++ b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/subscription.hpp
@@ -30,7 +30,7 @@ create_subscription(
   const char * topic_name,
   const rmw_qos_profile_t * qos_policies,
   const rmw_subscription_options_t * subscription_options,
-  bool keyed,  // unused
+  bool keyed,
   bool create_subscription_listener);
 
 }  // namespace rmw_fastrtps_dynamic_cpp
diff --git a/rmw_fastrtps_dynamic_cpp/src/get_participant.cpp b/rmw_fastrtps_dynamic_cpp/src/get_participant.cpp
index 471f7e508..34c046c01 100644
--- a/rmw_fastrtps_dynamic_cpp/src/get_participant.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/get_participant.cpp
@@ -12,12 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw_fastrtps_dynamic_cpp/get_participant.hpp"
+
 #include "fastdds/dds/domain/DomainParticipant.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_context_impl.hpp"
 #include "rmw_fastrtps_dynamic_cpp/identifier.hpp"
-#include "rmw_fastrtps_dynamic_cpp/get_participant.hpp"
 
 namespace rmw_fastrtps_dynamic_cpp
 {
diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
index b8d2f73aa..df8a2c471 100644
--- a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -20,8 +20,11 @@
 #include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 #include "fastdds/dds/topic/Topic.hpp"
+#include "fastdds/dds/topic/TopicDescription.hpp"
 #include "fastdds/dds/topic/qos/TopicQos.hpp"
 
+#include "fastdds/rtps/resources/ResourceManagement.h"
+
 #include "rcutils/error_handling.h"
 
 #include "rmw/allocators.h"
@@ -59,13 +62,13 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
 {
   /////
   // Check input parameters
-  (void)keyed;
+  RCUTILS_CAN_RETURN_WITH_ERROR_OF(nullptr);
 
   RMW_CHECK_ARGUMENT_FOR_NULL(participant_info, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(type_supports, nullptr);
   RMW_CHECK_ARGUMENT_FOR_NULL(topic_name, nullptr);
   if (0 == strlen(topic_name)) {
-    RMW_SET_ERROR_MSG("topic_name argument is an empty string");
+    RMW_SET_ERROR_MSG("create_publisher() called with an empty topic_name argument");
     return nullptr;
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);
@@ -77,7 +80,8 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
     }
     if (RMW_TOPIC_VALID != validation_result) {
       const char * reason = rmw_full_topic_name_validation_result_string(validation_result);
-      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("invalid topic name: %s", reason);
+      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+        "create_publisher() called with invalid topic name: %s", reason);
       return nullptr;
     }
   }
@@ -86,7 +90,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   /////
   // Check RMW QoS
   if (!is_valid_qos(*qos_policies)) {
-    RMW_SET_ERROR_MSG("Invalid QoS");
+    RMW_SET_ERROR_MSG("create_publisher() called with invalid QoS");
     return nullptr;
   }
 
@@ -147,7 +151,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   }
 
   /////
-  // Create the RMW Publisher struct (info)
+  // Create the custom Publisher struct (info)
   CustomPublisherInfo * info = nullptr;
 
   info = new (std::nothrow) CustomPublisherInfo();
@@ -166,7 +170,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   TypeSupportRegistry & type_registry = TypeSupportRegistry::get_instance();
   auto type_impl = type_registry.get_message_type_support(type_support);
   if (!type_impl) {
-    RMW_SET_ERROR_MSG("failed to allocate type support");
+    RMW_SET_ERROR_MSG("create_publisher() failed to get message_type_support");
     return nullptr;
   }
   auto return_type_support = rcpputils::make_scope_exit(
@@ -188,6 +192,11 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
     fastdds_type.reset(tsupport);
   }
 
+  if (keyed && !fastdds_type->m_isGetKeyDefined) {
+    RMW_SET_ERROR_MSG("create_publisher() requested a keyed topic with a non-keyed type");
+    return nullptr;
+  }
+
   if (ReturnCode_t::RETCODE_OK != fastdds_type.register_type(domainParticipant)) {
     RMW_SET_ERROR_MSG("create_publisher() failed to register type");
     return nullptr;
@@ -218,6 +227,8 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
 
   /////
   // Create and register Topic
+  bool topic_created = false;
+  eprosima::fastdds::dds::Topic * topic = nullptr;
   if (!des_topic) {
     // Use Topic Qos Default
     eprosima::fastdds::dds::TopicQos topicQos = domainParticipant->get_default_topic_qos();
@@ -227,29 +238,37 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
       return nullptr;
     }
 
-    des_topic = domainParticipant->create_topic(
+    topic = domainParticipant->create_topic(
       topic_name_mangled,
       type_name,
       topicQos);
 
-    if (!des_topic) {
+    if (!topic) {
       RMW_SET_ERROR_MSG("create_publisher() failed to create topic");
       return nullptr;
     }
   }
-
-  eprosima::fastdds::dds::Topic * topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(des_topic);
-  if (!topic) {
-    RMW_SET_ERROR_MSG("create_publisher() failed, publisher topic can only be of class Topic");
-    return nullptr;
+  else {
+    topic = dynamic_cast<eprosima::fastdds::dds::Topic *>(des_topic);
+    if (!topic) {
+      RMW_SET_ERROR_MSG("create_publisher() failed, publisher topic can only be of class Topic");
+      return nullptr;
+    }      
   }
 
+  auto cleanup_topic = rcpputils::make_scope_exit(
+    [domainParticipant, topic, topic_created]() {
+      if (topic_created) {
+        domainParticipant->delete_topic(topic);
+      }
+    });
+
   /////
   // Create DataWriter
 
   // If the user defined an XML file via env "FASTRTPS_DEFAULT_PROFILES_FILE", try to load
   // datawriter which profile name matches with topic_name. If such profile does not exist,
-  // then use the default QoS.
+  // then use the default Fast DDS QoS.
   eprosima::fastdds::dds::DataWriterQos dataWriterQos = publisher->get_default_datawriter_qos();
 
   // Try to load the profile with the topic name
@@ -269,8 +288,9 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
       eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   }
 
-  // Get QoS from ROS
+  // Get QoS from RMW
   if (!get_datawriter_qos(*qos_policies, dataWriterQos)) {
+    RMW_SET_ERROR_MSG("create_publisher() failed setting data writer QoS");
     return nullptr;
   }
 
@@ -291,14 +311,6 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
       publisher->delete_datawriter(info->data_writer_);
     });
 
-  // 1 Heartbeat every 10ms
-  // publisherParam.times.heartbeatPeriod.seconds = 0;
-  // publisherParam.times.heartbeatPeriod.fraction = 42949673;
-
-  // 300000 bytes each 10ms
-  // ThroughputControllerDescriptor throughputController{3000000, 10};
-  // publisherParam.throughputController = throughputController;
-
   /////
   // Create RMW GID
   info->publisher_gid = rmw_fastrtps_shared_cpp::create_rmw_gid(
@@ -307,9 +319,8 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   /////
   // Allocate publisher
   rmw_publisher_t * rmw_publisher = rmw_publisher_allocate();
-
   if (!rmw_publisher) {
-    RMW_SET_ERROR_MSG("failed to allocate publisher");
+    RMW_SET_ERROR_MSG("create_publisher() failed to allocate rmw_publisher");
     return nullptr;
   }
   auto cleanup_rmw_publisher = rcpputils::make_scope_exit(
@@ -324,7 +335,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
 
   rmw_publisher->topic_name = static_cast<char *>(rmw_allocate(strlen(topic_name) + 1));
   if (!rmw_publisher->topic_name) {
-    RMW_SET_ERROR_MSG("failed to allocate memory for publisher topic name");
+    RMW_SET_ERROR_MSG("create_publisher() failed to allocate memory for rmw_publisher topic name");
     return nullptr;
   }
   memcpy(const_cast<char *>(rmw_publisher->topic_name), topic_name, strlen(topic_name) + 1);
@@ -333,6 +344,7 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
 
   cleanup_rmw_publisher.cancel();
   cleanup_datawriter.cancel();
+  cleanup_topic.cancel();
   cleanup_listener.cancel();
   cleanup_type_support.cancel();
   return_type_support.cancel();
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_compare_gids_equal.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_compare_gids_equal.cpp
index 3c5cab0f4..9ebeb4b8b 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_compare_gids_equal.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_compare_gids_equal.cpp
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fastrtps/rtps/common/Guid.h"
-
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
 #include "rmw/types.h"
diff --git a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
index 88109944e..d60206970 100644
--- a/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/type_support_common.cpp
@@ -34,11 +34,3 @@ using_introspection_cpp_typesupport(const char * typesupport_identifier)
   return typesupport_identifier ==
          rosidl_typesupport_introspection_cpp::typesupport_identifier;
 }
-
-// void
-// _register_type(
-//   eprosima::fastrtps::Participant * participant,
-//   rmw_fastrtps_shared_cpp::TypeSupport * typed_typesupport)
-// {
-//   eprosima::fastrtps::Domain::registerType(participant, typed_typesupport);
-// }
diff --git a/rmw_fastrtps_dynamic_cpp/src/type_support_common.hpp b/rmw_fastrtps_dynamic_cpp/src/type_support_common.hpp
index f0756fec8..1846b7ba5 100644
--- a/rmw_fastrtps_dynamic_cpp/src/type_support_common.hpp
+++ b/rmw_fastrtps_dynamic_cpp/src/type_support_common.hpp
@@ -109,9 +109,4 @@ _create_type_name(
   return "";
 }
 
-// void
-// _register_type(
-//   eprosima::fastrtps::Participant * participant,
-//   rmw_fastrtps_shared_cpp::TypeSupport * typed_typesupport);
-
 #endif  // TYPE_SUPPORT_COMMON_HPP_
diff --git a/rmw_fastrtps_dynamic_cpp/test/test_logging.cpp b/rmw_fastrtps_dynamic_cpp/test/test_logging.cpp
index 9f68be552..1892537e5 100644
--- a/rmw_fastrtps_dynamic_cpp/test/test_logging.cpp
+++ b/rmw_fastrtps_dynamic_cpp/test/test_logging.cpp
@@ -14,28 +14,30 @@
 
 #include "gtest/gtest.h"
 
-#include "fastrtps/log/Log.h"
+#include "fastdds/dds/log/Log.hpp"
 
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
 
 TEST(TestLogging, rmw_logging)
 {
+  using Log = eprosima::fastdds::dds::Log;
+  
   rmw_ret_t ret = rmw_set_log_severity(RMW_LOG_SEVERITY_DEBUG);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Info, Log::GetVerbosity());
   ret = rmw_set_log_severity(RMW_LOG_SEVERITY_INFO);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Info, Log::GetVerbosity());
   ret = rmw_set_log_severity(RMW_LOG_SEVERITY_WARN);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Warning, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Warning, Log::GetVerbosity());
   ret = rmw_set_log_severity(RMW_LOG_SEVERITY_ERROR);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Error, Log::GetVerbosity());
   ret = rmw_set_log_severity(RMW_LOG_SEVERITY_FATAL);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Error, Log::GetVerbosity());
 }
 
 TEST(TestLogging, rmw_logging_bad_verbosity)
diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index d4b3ab88c..bce4e76db 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -41,8 +41,8 @@ find_package(rmw_dds_common REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
 find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastrtps 2.3 REQUIRED CONFIG)
+find_package(FastRTPS 2.3 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
index 8d715bd65..cc3f2548d 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
@@ -18,7 +18,6 @@
 #include <cassert>
 #include <string>
 
-#include "fastdds/dds/domain/DomainParticipant.hpp"
 #include "fastdds/dds/topic/TopicDataType.hpp"
 
 #include "fastcdr/FastBuffer.h"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
index d5a53778e..dad3c01e3 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp
@@ -26,7 +26,8 @@
 
 #include "fastcdr/FastBuffer.h"
 
-#include "fastdds/dds/domain/DomainParticipant.hpp"
+#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
+#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/DataWriterListener.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
@@ -34,6 +35,10 @@
 #include "fastdds/dds/subscriber/SampleInfo.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
+#include "fastdds/rtps/common/Guid.h"
+#include "fastdds/rtps/common/InstanceHandle.h"
+#include "fastdds/rtps/common/SampleIdentity.h"
+
 #include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
index af9daadff..1ae23eb20 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp
@@ -24,7 +24,10 @@
 #include "fastdds/dds/domain/DomainParticipantListener.hpp"
 #include "fastdds/dds/publisher/Publisher.hpp"
 #include "fastdds/dds/subscriber/Subscriber.hpp"
-#include "fastdds/rtps/common/Types.h"
+
+#include "fastdds/rtps/participant/ParticipantDiscoveryInfo.h"
+#include "fastdds/rtps/reader/ReaderDiscoveryInfo.h"
+#include "fastdds/rtps/writer/WriterDiscoveryInfo.h"
 
 #include "rcpputils/thread_safety_annotations.hpp"
 #include "rcutils/logging_macros.h"
@@ -61,8 +64,8 @@ typedef struct CustomParticipantInfo
   // Protects creation and destruction of topics, readers and writers
   mutable std::mutex entity_creation_mutex_;
 
-  // Flag to establish if the QoS of the participant,
-  // its publishers and its subscribers are going
+  // Flag to establish if the QoS of the DomainParticipant,
+  // its DataWriters, and its DataReaders are going
   // to be configured only from an XML file or if
   // their settings are going to be overwritten by code
   // with the default configuration.
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
index 35779c60d..b3492fb96 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp
@@ -20,12 +20,17 @@
 #include <mutex>
 #include <set>
 
+#include "fastdds/dds/core/status/BaseStatus.hpp"
 #include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
+#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
 #include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/DataWriterListener.hpp"
 #include "fastdds/dds/topic/Topic.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
+#include "fastdds/rtps/common/Guid.h"
+#include "fastdds/rtps/common/InstanceHandle.h"
+
 #include "rcpputils/thread_safety_annotations.hpp"
 #include "rmw/rmw.h"
 
@@ -63,7 +68,7 @@ class PubListener : public EventListenerInterface, public eprosima::fastdds::dds
     (void) info;
   }
 
-  // PublisherListener implementation
+  // DataWriterListener implementation
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
   void
   on_publication_matched(
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
index 7ef5371e4..ea17ef4d9 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp
@@ -24,14 +24,20 @@
 
 #include "fastcdr/FastBuffer.h"
 
-#include "fastdds/dds/domain/DomainParticipant.hpp"
+#include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
+#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/DataWriterListener.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
+#include "fastdds/dds/subscriber/InstanceState.hpp"
 #include "fastdds/dds/subscriber/SampleInfo.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
+#include "fastdds/rtps/common/Guid.h"
+#include "fastdds/rtps/common/InstanceHandle.h"
+#include "fastdds/rtps/common/SampleIdentity.h"
+
 #include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
@@ -179,15 +185,13 @@ class ServiceListener : public eprosima::fastdds::dds::DataReaderListener
   : info_(info), list_has_data_(false),
     conditionMutex_(nullptr), conditionVariable_(nullptr)
   {
-    (void)info_;
   }
 
   void
   on_subscription_matched(
-    eprosima::fastdds::dds::DataReader * reader,
+    eprosima::fastdds::dds::DataReader * /* reader */,
     const eprosima::fastdds::dds::SubscriptionMatchedStatus & info) final
   {
-    (void) reader;
     if (info.current_count_change == -1) {
       info_->pub_listener_->endpoint_erase_if_exists(
         eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
index 89640db6a..379a42703 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp
@@ -21,10 +21,16 @@
 #include <set>
 #include <utility>
 
+#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
+#include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"
+#include "fastdds/dds/core/status/SubscriptionMatchedStatus.hpp"
 #include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/DataReaderListener.hpp"
 #include "fastdds/dds/topic/TypeSupport.hpp"
 
+#include "fastdds/rtps/common/Guid.h"
+#include "fastdds/rtps/common/InstanceHandle.h"
+
 #include "rcpputils/thread_safety_annotations.hpp"
 
 #include "rmw/impl/cpp/macros.hpp"
@@ -65,7 +71,7 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
     (void)info;
   }
 
-  // SubscriberListener implementation
+  // DataReaderListener implementation
   void
   on_subscription_matched(
     eprosima::fastdds::dds::DataReader * reader,
@@ -79,13 +85,13 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
         publishers_.erase(eprosima::fastrtps::rtps::iHandle2GUID(info.last_publication_handle));
       }
     }
-    update_unread_count(reader);
+    update_has_data(reader);
   }
 
   void
   on_data_available(eprosima::fastdds::dds::DataReader * reader) final
   {
-    update_unread_count(reader);
+    update_has_data(reader);
   }
 
   RMW_FASTRTPS_SHARED_CPP_PUBLIC
@@ -133,18 +139,12 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
   }
 
   void
-  update_unread_count(eprosima::fastdds::dds::DataReader * reader)
+  update_has_data(eprosima::fastdds::dds::DataReader * reader)
   {
-    // Make sure to call into Fast-RTPS before taking the lock to avoid an
-    // ABBA deadlock between internalMutex_ and mutexes inside of Fast-RTPS.
-    eprosima::fastdds::dds::SampleInfo info;
-    ReturnCode_t has_data_ret = reader->get_first_untaken_info(&info);
-
-    // In case there is data, get_first_untaken_info return OK. Else it returs NO_DATA
-    bool has_data = false;
-    if (has_data_ret == ReturnCode_t::RETCODE_OK) {
-      has_data = true;
-    }
+    // Make sure to call into Fast DDS before taking the lock to avoid an
+    // ABBA deadlock between internalMutex_ and mutexes inside of Fast DDS.
+    auto unread_count = reader->get_unread_count();
+    bool has_data = unread_count > 0;
 
     std::lock_guard<std::mutex> lock(internalMutex_);
     ConditionalScopedLock clock(conditionMutex_, conditionVariable_);
@@ -163,11 +163,11 @@ class SubListener : public EventListenerInterface, public eprosima::fastdds::dds
   std::atomic_bool data_;
 
   std::atomic_bool deadline_changes_;
-  eprosima::fastrtps::RequestedDeadlineMissedStatus requested_deadline_missed_status_
+  eprosima::fastdds::dds::RequestedDeadlineMissedStatus requested_deadline_missed_status_
   RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
   std::atomic_bool liveliness_changes_;
-  eprosima::fastrtps::LivelinessChangedStatus liveliness_changed_status_
+  eprosima::fastdds::dds::LivelinessChangedStatus liveliness_changed_status_
   RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
 
   std::mutex * conditionMutex_ RCPPUTILS_TSA_GUARDED_BY(internalMutex_);
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/participant.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/participant.hpp
index 7d851814d..a123a304e 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/participant.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/participant.hpp
@@ -25,9 +25,12 @@
 namespace rmw_fastrtps_shared_cpp
 {
 
-// The Entities Publisher and Subscriber are created with the Participant
-// Endpoint SubEntities as DataWriter and DataReader are created with
-// create_publisher and create_subscription
+// This method will create a DDS DomainParticipant along with
+// a DDS Publisher and a DDS Subscriber
+// For the creation of DDS DataWriter see method create_publisher
+// For the creation of DDS DataReader see method create_subscription
+// Note that ROS 2 Publishers and Subscriptions correspond with DDS DataWriters
+// and DataReaders respectively and not with DDS Publishers and Subscribers.
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 CustomParticipantInfo *
 create_participant(
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
index fad8b2538..c70ba0892 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@@ -16,9 +16,7 @@
 #ifndef RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
 #define RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
 
-#include <fastdds/dds/publisher/DataWriter.hpp>
 #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
-#include <fastdds/dds/subscriber/DataReader.hpp>
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/core/policy/QosPolicies.hpp>
 
@@ -49,12 +47,10 @@ get_topic_qos(
   eprosima::fastdds::dds::TopicQos & topicQos);
 
 /*
- * Converts the low-level QOS Policy; of type DataWriterQos or DataReaderQos into rmw_qos_profile_t.
- * Since DataWriterQos or DataReaderQos does not have information about history and depth, these values are not set
- * by this function.
+ * Converts the DDS QOS Policy; of type DataWriterQos or DataReaderQos into rmw_qos_profile_t.
  *
  * \param[in] dds_qos of type DataWriterQos or DataReaderQos
- * \param[out] qos the equivalent of the data in DataWriterQos or DataReaderQos in rmw_qos_profile_t
+ * \param[out] qos the equivalent of the data in dds_qos as a rmw_qos_profile_t
  */
 template<typename DDSQoSPolicyT>
 void
@@ -63,10 +59,10 @@ dds_qos_to_rmw_qos(
   rmw_qos_profile_t * qos)
 {
   switch (dds_qos.reliability().kind) {
-    case eprosima::fastdds::dds::ReliabilityQosPolicyKind::BEST_EFFORT_RELIABILITY_QOS:
+    case eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS:
       qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
       break;
-    case eprosima::fastdds::dds::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS:
+    case eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS:
       qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
       break;
     default:
@@ -121,13 +117,21 @@ dds_qos_to_rmw_qos(
   qos->depth = static_cast<size_t>(dds_qos.history().depth);
 }
 
-template<typename DDSQoSPolicyT>
+/*
+ * Converts the RTPS QOS Policy; of type WriterQos or ReaderQos into rmw_qos_profile_t.
+ * Since WriterQos or ReaderQos do not have information about history and depth,
+ * these values are not set by this function.
+ *
+ * \param[in] rtps_qos of type WriterQos or ReaderQos
+ * \param[out] qos the equivalent of the data in rtps_qos as a rmw_qos_profile_t
+ */
+template<typename RTPSQoSPolicyT>
 void
 rtps_qos_to_rmw_qos(
-  const DDSQoSPolicyT & dds_qos,
+  const RTPSQoSPolicyT & rtps_qos,
   rmw_qos_profile_t * qos)
 {
-  switch (dds_qos.m_reliability.kind) {
+  switch (rtps_qos.m_reliability.kind) {
     case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
       qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
       break;
@@ -139,7 +143,7 @@ rtps_qos_to_rmw_qos(
       break;
   }
 
-  switch (dds_qos.m_durability.kind) {
+  switch (rtps_qos.m_durability.kind) {
     case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
       qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
       break;
@@ -151,13 +155,13 @@ rtps_qos_to_rmw_qos(
       break;
   }
 
-  qos->deadline.sec = dds_qos.m_deadline.period.seconds;
-  qos->deadline.nsec = dds_qos.m_deadline.period.nanosec;
+  qos->deadline.sec = rtps_qos.m_deadline.period.seconds;
+  qos->deadline.nsec = rtps_qos.m_deadline.period.nanosec;
 
-  qos->lifespan.sec = dds_qos.m_lifespan.duration.seconds;
-  qos->lifespan.nsec = dds_qos.m_lifespan.duration.nanosec;
+  qos->lifespan.sec = rtps_qos.m_lifespan.duration.seconds;
+  qos->lifespan.nsec = rtps_qos.m_lifespan.duration.nanosec;
 
-  switch (dds_qos.m_liveliness.kind) {
+  switch (rtps_qos.m_liveliness.kind) {
     case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
       qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
       break;
@@ -168,8 +172,8 @@ rtps_qos_to_rmw_qos(
       qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
       break;
   }
-  qos->liveliness_lease_duration.sec = dds_qos.m_liveliness.lease_duration.seconds;
-  qos->liveliness_lease_duration.nsec = dds_qos.m_liveliness.lease_duration.nanosec;
+  qos->liveliness_lease_duration.sec = rtps_qos.m_liveliness.lease_duration.seconds;
+  qos->liveliness_lease_duration.nsec = rtps_qos.m_liveliness.lease_duration.nanosec;
 }
 
 extern template RMW_FASTRTPS_SHARED_CPP_PUBLIC
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/utils.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/utils.hpp
index 08c5b4354..6b12c0bce 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/utils.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/utils.hpp
@@ -1,4 +1,4 @@
-// Copyright 2021 Open Source Robotics Foundation, Inc.
+// Copyright 2021 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.
@@ -18,9 +18,8 @@
 #include <mutex>
 #include <string>
 
-#include "fastdds/dds/domain/DomainParticipant.hpp"
 #include "fastdds/dds/topic/TopicDescription.hpp"
-#include "fastdds/dds/topic/qos/TopicQos.hpp"
+#include "fastdds/dds/topic/TypeSupport.hpp"
 
 #include "fastrtps/types/TypesBase.h"
 
diff --git a/rmw_fastrtps_shared_cpp/src/create_rmw_gid.cpp b/rmw_fastrtps_shared_cpp/src/create_rmw_gid.cpp
index 72ffb3087..49b90492b 100644
--- a/rmw_fastrtps_shared_cpp/src/create_rmw_gid.cpp
+++ b/rmw_fastrtps_shared_cpp/src/create_rmw_gid.cpp
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fastrtps/rtps/common/Guid.h"
+#include "fastdds/rtps/common/Guid.h"
 
 #include "rmw/types.h"
 
diff --git a/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
index f910daca9..33e6c13f8 100644
--- a/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
+++ b/rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp
@@ -13,6 +13,8 @@
 // limitations under the License.
 
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "fastdds/dds/core/status/BaseStatus.hpp"
+#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
 #include "types/event_types.hpp"
 
 EventListenerInterface *
@@ -42,7 +44,7 @@ PubListener::on_offered_deadline_missed(
 
 void PubListener::on_liveliness_lost(
   eprosima::fastdds::dds::DataWriter * /* writer */,
-  const eprosima::fastrtps::LivelinessLostStatus & status)
+  const eprosima::fastdds::dds::LivelinessLostStatus & status)
 {
   std::lock_guard<std::mutex> lock(internalMutex_);
 
diff --git a/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp b/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
index 8af36904a..d9eb011d1 100644
--- a/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
+++ b/rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp
@@ -13,6 +13,10 @@
 // limitations under the License.
 
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+
+#include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
+#include "fastdds/dds/core/status/LivelinessChangedStatus.hpp"
+
 #include "types/event_types.hpp"
 
 EventListenerInterface *
@@ -24,7 +28,7 @@ CustomSubscriberInfo::getListener() const
 void
 SubListener::on_requested_deadline_missed(
   eprosima::fastdds::dds::DataReader * /* reader */,
-  const eprosima::fastrtps::RequestedDeadlineMissedStatus & status)
+  const eprosima::fastdds::dds::RequestedDeadlineMissedStatus & status)
 {
   std::lock_guard<std::mutex> lock(internalMutex_);
 
@@ -42,7 +46,7 @@ SubListener::on_requested_deadline_missed(
 
 void SubListener::on_liveliness_changed(
   eprosima::fastdds::dds::DataReader * /* reader */,
-  const eprosima::fastrtps::LivelinessChangedStatus & status)
+  const eprosima::fastdds::dds::LivelinessChangedStatus & status)
 {
   std::lock_guard<std::mutex> lock(internalMutex_);
 
diff --git a/rmw_fastrtps_shared_cpp/src/participant.cpp b/rmw_fastrtps_shared_cpp/src/participant.cpp
index 304cb90f7..dbb8031c4 100644
--- a/rmw_fastrtps_shared_cpp/src/participant.cpp
+++ b/rmw_fastrtps_shared_cpp/src/participant.cpp
@@ -16,10 +16,13 @@
 #include <string>
 #include <memory>
 
+#include "fastdds/dds/core/status/StatusMask.hpp"
 #include "fastdds/dds/domain/DomainParticipantFactory.hpp"
 #include "fastdds/dds/domain/qos/DomainParticipantQos.hpp"
 #include "fastdds/dds/publisher/qos/PublisherQos.hpp"
 #include "fastdds/dds/subscriber/qos/SubscriberQos.hpp"
+#include "fastdds/rtps/attributes/PropertyPolicy.h"
+#include "fastdds/rtps/common/Property.h"
 #include "fastdds/rtps/transport/UDPv4TransportDescriptor.h"
 #include "fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h"
 
@@ -73,17 +76,15 @@ get_security_file_paths(
 #endif
 
 // Private function to create Participant with QoS
-CustomParticipantInfo *
+static CustomParticipantInfo *
 __create_participant(
   const char * identifier,
-  eprosima::fastdds::dds::DomainParticipantQos domainParticipantQos,
+  const eprosima::fastdds::dds::DomainParticipantQos & domainParticipantQos,
   bool leave_middleware_default_qos,
   publishing_mode_t publishing_mode,
   rmw_dds_common::Context * common_context,
   size_t domain_id)
 {
-  /////
-  // Declare everything before beginning to create things.
   CustomParticipantInfo * participant_info = nullptr;
 
   /////
@@ -92,6 +93,7 @@ __create_participant(
     participant_info = new CustomParticipantInfo();
   } catch (std::bad_alloc &) {
     RMW_SET_ERROR_MSG("__create_participant failed to allocate CustomParticipantInfo struct");
+    return nullptr;
   }
   // lambda to delete participant info
   auto cleanup_participant_info = rcpputils::make_scope_exit(
@@ -106,6 +108,7 @@ __create_participant(
       identifier, common_context);
   } catch (std::bad_alloc &) {
     RMW_SET_ERROR_MSG("__create_participant failed to allocate participant listener");
+    return nullptr;
   }
   // lambda to delete listener
   auto cleanup_listener = rcpputils::make_scope_exit(
@@ -113,21 +116,12 @@ __create_participant(
       delete participant_info->listener_;
     });
 
-  /////
-  // Force to load XML configuration file
-  if (ReturnCode_t::RETCODE_OK !=
-    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->load_profiles())
-  {
-    RMW_SET_ERROR_MSG("__create_participant failed to load FastDDS XML configuration file");
-  }
-
   /////
   // Create Participant
 
-  // Create Participant Listener mask so it only uses the domain
-  // participant listener non inheritated callbacks
-  // Without this mask, callback of DataReaders on_data_available is never called
-  // Publisher and subscriber dont need masks as they do not have listeners
+  // As the participant listener is only used for discovery related callbacks, which are
+  // Fast DDS extensions to the DDS standard DomainParticipantListener interface, an empty
+  // mask should be used to let child entities handle standard DDS events.  
   eprosima::fastdds::dds::StatusMask participant_mask = eprosima::fastdds::dds::StatusMask::none();
 
   participant_info->participant_ =
@@ -222,7 +216,7 @@ rmw_fastrtps_shared_cpp::create_participant(
 
     // Add SHM transport if available
     auto shm_transport = std::make_shared<eprosima::fastdds::rtps::SharedMemTransportDescriptor>();
-    domainParticipantQos.transport().user_transports.push_back(udp_transport);
+    domainParticipantQos.transport().user_transports.push_back(shm_transport);
   }
 
   size_t length = snprintf(nullptr, 0, "enclave=%s;", enclave) + 1;
diff --git a/rmw_fastrtps_shared_cpp/src/publisher.cpp b/rmw_fastrtps_shared_cpp/src/publisher.cpp
index 69913bcb8..8cd4748f6 100644
--- a/rmw_fastrtps_shared_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/publisher.cpp
@@ -12,9 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fastrtps/Domain.h"
-#include "fastrtps/participant/Participant.h"
-
 #include "rmw/allocators.h"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
@@ -25,9 +22,6 @@
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw_fastrtps_shared_cpp/utils.hpp"
 
-using Domain = eprosima::fastrtps::Domain;
-using Participant = eprosima::fastrtps::Participant;
-
 namespace rmw_fastrtps_shared_cpp
 {
 rmw_ret_t
@@ -52,7 +46,7 @@ destroy_publisher(
     // Delete DataWriter
     ReturnCode_t ret = participant_info->publisher_->delete_datawriter(info->data_writer_);
     if (ret != ReturnCode_t::RETCODE_OK) {
-      RMW_SET_ERROR_MSG("Fail in delete datareader");
+      RMW_SET_ERROR_MSG("Fail in delete datawriter");
       return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);
     }
 
@@ -64,7 +58,7 @@ destroy_publisher(
     // Delete topic and unregister type
     remove_topic_and_type(participant_info, topic, info->type_support_);
 
-    // Delete PublisherInfo structure
+    // Delete CustomPublisherInfo structure
     delete info;
   } else {
     ret = RMW_RET_INVALID_ARGUMENT;
diff --git a/rmw_fastrtps_shared_cpp/src/qos.cpp b/rmw_fastrtps_shared_cpp/src/qos.cpp
index 8fd526a99..3ecdd9b33 100644
--- a/rmw_fastrtps_shared_cpp/src/qos.cpp
+++ b/rmw_fastrtps_shared_cpp/src/qos.cpp
@@ -16,10 +16,9 @@
 
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 
-#include "fastdds/dds/publisher/DataWriter.hpp"
 #include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
-#include "fastdds/dds/subscriber/DataReader.hpp"
 #include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
+#include "fastdds/dds/topic/qos/TopicQos.hpp"
 #include "fastdds/rtps/common/Time_t.h"
 
 #include "rmw/error_handling.h"
@@ -42,7 +41,8 @@ is_time_default(const rmw_time_t & time)
   return time.sec == 0 && time.nsec == 0;
 }
 
-// Private function to encapsulate DataReader and DataWriter together with TopicQos fill entities
+// Private function to encapsulate DataReader and DataWriter, together with Topic, filling 
+// entities DDS QoS from the RMW QoS profile.
 template<typename DDSEntityQos>
 bool fill_entity_qos_from_profile(
   const rmw_qos_profile_t & qos_policies,
@@ -50,10 +50,10 @@ bool fill_entity_qos_from_profile(
 {
   switch (qos_policies.history) {
     case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      entity_qos.history().kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
+      entity_qos.history().kind = eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS;
       break;
     case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      entity_qos.history().kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
+      entity_qos.history().kind = eprosima::fastdds::dds::KEEP_ALL_HISTORY_QOS;
       break;
     case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
       break;
@@ -64,10 +64,10 @@ bool fill_entity_qos_from_profile(
 
   switch (qos_policies.durability) {
     case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      entity_qos.durability().kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
+      entity_qos.durability().kind = eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
       break;
     case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-      entity_qos.durability().kind = eprosima::fastrtps::VOLATILE_DURABILITY_QOS;
+      entity_qos.durability().kind = eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS;
       break;
     case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
       break;
@@ -78,10 +78,10 @@ bool fill_entity_qos_from_profile(
 
   switch (qos_policies.reliability) {
     case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
-      entity_qos.reliability().kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
+      entity_qos.reliability().kind = eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS;
       break;
     case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
-      entity_qos.reliability().kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
+      entity_qos.reliability().kind = eprosima::fastdds::dds::RELIABLE_RELIABILITY_QOS;
       break;
     case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
       break;
@@ -91,7 +91,7 @@ bool fill_entity_qos_from_profile(
   }
 
   // ensure the history depth is at least the requested queue size
-  assert(entity_qos.history().depth >= 0);  // TODO(eprosima) should not be after initialization?
+  assert(entity_qos.history().depth >= 0);
   if (
     qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT &&
     static_cast<size_t>(entity_qos.history().depth) < qos_policies.depth)
@@ -114,10 +114,10 @@ bool fill_entity_qos_from_profile(
 
   switch (qos_policies.liveliness) {
     case RMW_QOS_POLICY_LIVELINESS_AUTOMATIC:
-      entity_qos.liveliness().kind = eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS;
+      entity_qos.liveliness().kind = eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS;
       break;
     case RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC:
-      entity_qos.liveliness().kind = eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS;
+      entity_qos.liveliness().kind = eprosima::fastdds::dds::MANUAL_BY_TOPIC_LIVELINESS_QOS;
       break;
     case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT:
       break;
@@ -161,35 +161,7 @@ get_topic_qos(
   const rmw_qos_profile_t & qos_policies,
   eprosima::fastdds::dds::TopicQos & topic_qos)
 {
-  switch (qos_policies.history) {
-    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
-      topic_qos.history().kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
-      topic_qos.history().kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
-      break;
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      break;
-    default:
-      RMW_SET_ERROR_MSG("Unknown QoS history policy");
-      return false;
-  }
-
-  // ensure the history depth is at least the requested queue size
-  assert(topic_qos.history().depth >= 0);  // TODO(eprosima) should not be after initialization?
-  if (
-    qos_policies.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT &&
-    static_cast<size_t>(topic_qos.history().depth) < qos_policies.depth)
-  {
-    if (qos_policies.depth > static_cast<size_t>((std::numeric_limits<int32_t>::max)())) {
-      RMW_SET_ERROR_MSG(
-        "failed to set history depth since the requested queue size exceeds the DDS type");
-      return false;
-    }
-    topic_qos.history().depth = static_cast<int32_t>(qos_policies.depth);
-  }
-
-  return true;
+  return fill_entity_qos_from_profile(qos_policies, topic_qos);;
 }
 
 bool
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
index ba1ba8e14..1a5046c57 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -90,7 +90,7 @@ __rmw_destroy_client(
     // Delete DataWriter
     ret = participant_info->publisher_->delete_datawriter(info->request_writer_);
     if (ret != ReturnCode_t::RETCODE_OK) {
-      RMW_SET_ERROR_MSG("Fail in delete datareader");
+      RMW_SET_ERROR_MSG("Fail in delete datawriter");
       return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);
     }
 
@@ -103,7 +103,7 @@ __rmw_destroy_client(
     remove_topic_and_type(participant_info, request_topic, info->request_type_support_);
     remove_topic_and_type(participant_info, response_topic, info->response_type_support_);
 
-    // Delete ClientInfo structure
+    // Delete CustomClientInfo structure
     delete info;
   } else {
     final_ret = RMW_RET_INVALID_ARGUMENT;
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_logging.cpp b/rmw_fastrtps_shared_cpp/src/rmw_logging.cpp
index 60e974894..db6b86a74 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_logging.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_logging.cpp
@@ -23,11 +23,12 @@
 
 namespace rmw_fastrtps_shared_cpp
 {
-using eprosima::fastdds::dds::Log;
 
 rmw_ret_t
 __rmw_set_log_severity(rmw_log_severity_t severity)
 {
+  using eprosima::fastdds::dds::Log;
+
   Log::Kind log_kind;
 
   switch (severity) {
@@ -49,7 +50,7 @@ __rmw_set_log_severity(rmw_log_severity_t severity)
       return RMW_RET_ERROR;
   }
 
-  eprosima::fastdds::dds::Log::SetVerbosity(log_kind);
+  Log::SetVerbosity(log_kind);
 
   return RMW_RET_OK;
 }
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index b16195269..8a1bd6a0d 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -21,7 +21,7 @@
 #include "rmw/rmw.h"
 
 #include "fastdds/dds/publisher/DataWriter.hpp"
-#include "fastdds/dds/publisher/Publisher.hpp"
+#include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
@@ -125,9 +125,8 @@ __rmw_publisher_get_actual_qos(
   rmw_qos_profile_t * qos)
 {
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
-  eprosima::fastdds::dds::DataWriter * fastrtps_pub = info->data_writer_;
-  const eprosima::fastdds::dds::DataWriterQos & dds_qos =
-    fastrtps_pub->get_qos();
+  eprosima::fastdds::dds::DataWriter * fastdds_dw = info->data_writer_;
+  const eprosima::fastdds::dds::DataWriterQos & dds_qos = fastdds_dw->get_qos();
 
   dds_qos_to_rmw_qos(dds_qos, qos);
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_request.cpp b/rmw_fastrtps_shared_cpp/src/rmw_request.cpp
index c89bea3c9..73ce6c534 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_request.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_request.cpp
@@ -17,6 +17,8 @@
 #include "fastcdr/Cdr.h"
 #include "fastcdr/FastBuffer.h"
 
+#include "fastdds/rtps/common/WriteParams.h"
+
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 #include "rmw/impl/cpp/macros.hpp"
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_response.cpp b/rmw_fastrtps_shared_cpp/src/rmw_response.cpp
index e913c354d..1766e4bbd 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_response.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_response.cpp
@@ -16,7 +16,7 @@
 
 #include "fastcdr/Cdr.h"
 
-#include "fastrtps/subscriber/Subscriber.h"
+#include "fastdds/rtps/common/WriteParams.h"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp b/rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp
index 339d70ba8..0d09c442a 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp
@@ -12,20 +12,25 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "rmw_fastrtps_shared_cpp/rmw_security_logging.hpp"
+
 #include <map>
 #include <string>
 #include <sstream>
 #include <utility>
 
+#include "fastdds/rtps/common/Property.h"
+#include "fastdds/rtps/attributes/PropertyPolicy.h"
+
 #include "fastrtps/config.h"
+
 #include "rcutils/filesystem.h"
 #include "rcutils/get_env.h"
+
 #include "rmw/error_handling.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/types.h"
 
-#include "rmw_fastrtps_shared_cpp/rmw_security_logging.hpp"
-
 #if HAVE_SECURITY
 
 namespace
@@ -44,7 +49,7 @@ const char verbosity_property_name[] = "dds.sec.log.builtin.DDS_LogTopic.logging
 const char distribute_enable_property_name[] =
   "dds.sec.log.builtin.DDS_LogTopic.distribute";
 
-// Fast RTPS supports the following verbosities:
+// Fast DDS supports the following verbosities:
 //   - EMERGENCY_LEVEL
 //   - ALERT_LEVEL
 //   - CRITICAL_LEVEL
@@ -211,8 +216,8 @@ bool apply_security_logging_configuration(eprosima::fastrtps::rtps::PropertyPoli
 #else
   (void)policy;
   RMW_SET_ERROR_MSG(
-    "This Fast-RTPS version doesn't have the security libraries\n"
-    "Please compile Fast-RTPS using the -DSECURITY=ON CMake option");
+    "This Fast DDS version doesn't have the security libraries\n"
+    "Please compile Fast DDS using the -DSECURITY=ON CMake option");
   return false;
 #endif
 }
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
index 32f85ff7a..e38d780e2 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -103,7 +103,7 @@ __rmw_destroy_service(
     // Delete DataWriter
     ret = participant_info->publisher_->delete_datawriter(info->response_writer_);
     if (ret != ReturnCode_t::RETCODE_OK) {
-      RMW_SET_ERROR_MSG("Fail in delete datareader");
+      RMW_SET_ERROR_MSG("Fail in delete datawriter");
       return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);
     }
 
@@ -116,7 +116,7 @@ __rmw_destroy_service(
     remove_topic_and_type(participant_info, request_topic, info->request_type_support_);
     remove_topic_and_type(participant_info, response_topic, info->response_type_support_);
 
-    // Delete ServiceInfo structure
+    // Delete CustomServiceInfo structure
     delete info;
   } else {
     final_ret = RMW_RET_INVALID_ARGUMENT;
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
index ab9bf5416..98f42159f 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
@@ -21,7 +21,7 @@
 #include "rmw/rmw.h"
 
 #include "fastdds/dds/subscriber/DataReader.hpp"
-#include "fastdds/dds/subscriber/Subscriber.hpp"
+#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
@@ -99,9 +99,8 @@ __rmw_subscription_get_actual_qos(
   rmw_qos_profile_t * qos)
 {
   auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
-  eprosima::fastdds::dds::DataReader * fastrtps_sub = info->data_reader_;
-  const eprosima::fastdds::dds::DataReaderQos & dds_qos =
-    fastrtps_sub->get_qos();
+  eprosima::fastdds::dds::DataReader * fastdds_dr = info->data_reader_;
+  const eprosima::fastdds::dds::DataReaderQos & dds_qos = fastdds_dr->get_qos();
 
   dds_qos_to_rmw_qos(dds_qos, qos);
 
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index 5fd17b58a..ec75d5f3e 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -79,7 +79,7 @@ _take(
   data.impl = info->type_support_impl_;
   if (info->data_reader_->take_next_sample(&data, &sinfo) == ReturnCode_t::RETCODE_OK) {
     // Update hasData from listener
-    info->listener_->update_unread_count(info->data_reader_);
+    info->listener_->update_has_data(info->data_reader_);
 
     if (sinfo.valid_data) {
       if (message_info) {
@@ -287,7 +287,7 @@ _take_serialized_message(
 
   if (info->data_reader_->take_next_sample(&data, &sinfo) == ReturnCode_t::RETCODE_OK) {
     // Update hasData from listener
-    info->listener_->update_unread_count(info->data_reader_);
+    info->listener_->update_has_data(info->data_reader_);
 
     if (sinfo.valid_data) {
       auto buffer_size = static_cast<size_t>(buffer.getBufferSize());
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
index df35f97d8..d3cfa24dc 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_wait.cpp
@@ -12,8 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "fastrtps/subscriber/Subscriber.h"
-
 #include "rcutils/macros.h"
 
 #include "rmw/error_handling.h"
diff --git a/rmw_fastrtps_shared_cpp/src/subscription.cpp b/rmw_fastrtps_shared_cpp/src/subscription.cpp
index f58acc562..e070c92a5 100644
--- a/rmw_fastrtps_shared_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_shared_cpp/src/subscription.cpp
@@ -64,7 +64,7 @@ destroy_subscription(
     // Delete topic and unregister type
     remove_topic_and_type(participant_info, topic, info->type_support_);
 
-    // Delete SubscriberInfo structure
+    // Delete CustomSubscriberInfo structure
     delete info;
   } else {
     ret = RMW_RET_INVALID_ARGUMENT;
diff --git a/rmw_fastrtps_shared_cpp/src/utils.cpp b/rmw_fastrtps_shared_cpp/src/utils.cpp
index f94ea65b1..31acf8e15 100644
--- a/rmw_fastrtps_shared_cpp/src/utils.cpp
+++ b/rmw_fastrtps_shared_cpp/src/utils.cpp
@@ -16,9 +16,14 @@
 
 #include "rmw_fastrtps_shared_cpp/utils.hpp"
 
-#include "rmw/rmw.h"
+#include "fastdds/dds/topic/Topic.hpp"
+#include "fastdds/dds/topic/TopicDescription.hpp"
+#include "fastdds/dds/topic/TypeSupport.hpp"
+
 #include "fastrtps/types/TypesBase.h"
 
+#include "rmw/rmw.h"
+
 using ReturnCode_t = eprosima::fastrtps::types::ReturnCode_t;
 
 namespace rmw_fastrtps_shared_cpp
@@ -30,7 +35,7 @@ rmw_ret_t cast_error_dds_to_rmw(ReturnCode_t code)
   if (code == ReturnCode_t::RETCODE_OK) {
     return RMW_RET_OK;
   } else if (code == ReturnCode_t::RETCODE_ERROR) {
-    // repeats the error to avoid too much if comparations
+    // repeats the error to avoid too many 'if' comparisons
     return RMW_RET_ERROR;
   } else if (code == ReturnCode_t::RETCODE_TIMEOUT) {
     return RMW_RET_TIMEOUT;
diff --git a/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp b/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp
index 588da9ecd..3bba2a29c 100644
--- a/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_guid_utils.cpp
@@ -14,7 +14,9 @@
 
 #include "gtest/gtest.h"
 
-#include "fastrtps/rtps/common/Guid.h"
+#include "fastdds/rtps/common/EntityId_t.hpp"
+#include "fastdds/rtps/common/Guid.h"
+#include "fastdds/rtps/common/GuidPrefix_t.hpp"
 
 #include "rmw_fastrtps_shared_cpp/guid_utils.hpp"
 
diff --git a/rmw_fastrtps_shared_cpp/test/test_logging.cpp b/rmw_fastrtps_shared_cpp/test/test_logging.cpp
index 73365e05b..e2b158035 100644
--- a/rmw_fastrtps_shared_cpp/test/test_logging.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_logging.cpp
@@ -14,7 +14,7 @@
 
 #include "gtest/gtest.h"
 
-#include "fastrtps/log/Log.h"
+#include "fastdds/dds/log/Log.hpp"
 
 #include "rmw/rmw.h"
 #include "rmw/error_handling.h"
@@ -23,21 +23,23 @@
 
 TEST(TestLogging, rmw_logging)
 {
+  using eprosima::fastdds::dds::Log;
+  
   rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_DEBUG);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Info, Log::GetVerbosity());
   ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_INFO);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Info, Log::GetVerbosity());
   ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_WARN);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Warning, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Warning, Log::GetVerbosity());
   ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_ERROR);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Error, Log::GetVerbosity());
   ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_FATAL);
   EXPECT_EQ(ret, RMW_RET_OK);
-  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  EXPECT_EQ(Log::Kind::Error, Log::GetVerbosity());
 }
 
 TEST(TestLogging, rmw_logging_bad_verbosity)
diff --git a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
index 7dedd050f..6000cc4e9 100644
--- a/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp
@@ -17,8 +17,9 @@
 
 #include "gtest/gtest.h"
 
-#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
+#include "fastdds/dds/core/policy/QosPolicies.hpp"
 #include "fastdds/dds/publisher/qos/DataWriterQos.hpp"
+#include "fastdds/dds/subscriber/qos/DataReaderQos.hpp"
 
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 
@@ -78,13 +79,13 @@ TEST_F(GetDataReaderQoSTest, nominal_conversion) {
   EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_qos_));
 
   EXPECT_EQ(
-    eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+    eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
     subscriber_qos_.reliability().kind);
   EXPECT_EQ(
-    eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+    eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
     subscriber_qos_.durability().kind);
   EXPECT_EQ(
-    eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS,
+    eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS,
     subscriber_qos_.liveliness().kind);
   EXPECT_EQ(0, subscriber_qos_.lifespan().duration.seconds);
   EXPECT_EQ(500000000u, subscriber_qos_.lifespan().duration.nanosec);
@@ -93,7 +94,7 @@ TEST_F(GetDataReaderQoSTest, nominal_conversion) {
   EXPECT_EQ(10, subscriber_qos_.liveliness().lease_duration.seconds);
   EXPECT_EQ(0u, subscriber_qos_.liveliness().lease_duration.nanosec);
   EXPECT_EQ(
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+    eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
     subscriber_qos_.history().kind);
   EXPECT_GE(10, subscriber_qos_.history().depth);
 }
@@ -176,13 +177,13 @@ TEST_F(GetDataWriterQoSTest, nominal_conversion) {
   EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
 
   EXPECT_EQ(
-    eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+    eprosima::fastdds::dds::BEST_EFFORT_RELIABILITY_QOS,
     publisher_qos_.reliability().kind);
   EXPECT_EQ(
-    eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+    eprosima::fastdds::dds::VOLATILE_DURABILITY_QOS,
     publisher_qos_.durability().kind);
   EXPECT_EQ(
-    eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS,
+    eprosima::fastdds::dds::AUTOMATIC_LIVELINESS_QOS,
     publisher_qos_.liveliness().kind);
   EXPECT_EQ(0, publisher_qos_.lifespan().duration.seconds);
   EXPECT_EQ(500000000u, publisher_qos_.lifespan().duration.nanosec);
@@ -191,7 +192,7 @@ TEST_F(GetDataWriterQoSTest, nominal_conversion) {
   EXPECT_EQ(10, publisher_qos_.liveliness().lease_duration.seconds);
   EXPECT_EQ(0u, publisher_qos_.liveliness().lease_duration.nanosec);
   EXPECT_EQ(
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+    eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
     publisher_qos_.history().kind);
   EXPECT_GE(10, publisher_qos_.history().depth);
 }
@@ -204,7 +205,7 @@ TEST_F(GetDataWriterQoSTest, large_depth_conversion) {
   EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_qos_));
 
   EXPECT_EQ(
-    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+    eprosima::fastdds::dds::KEEP_LAST_HISTORY_QOS,
     publisher_qos_.history().kind);
   EXPECT_LE(depth, static_cast<size_t>(publisher_qos_.history().depth));
 
diff --git a/rmw_fastrtps_shared_cpp/test/test_security_logging.cpp b/rmw_fastrtps_shared_cpp/test/test_security_logging.cpp
index 81fb7cbc8..e1188e2cf 100644
--- a/rmw_fastrtps_shared_cpp/test/test_security_logging.cpp
+++ b/rmw_fastrtps_shared_cpp/test/test_security_logging.cpp
@@ -16,6 +16,9 @@
 #include <string>
 #include <vector>
 
+#include "fastdds/rtps/common/Property.h"
+#include "fastdds/rtps/attributes/PropertyPolicy.h"
+
 #include "fastrtps/config.h"
 #include "rcutils/filesystem.h"
 #include "rmw/error_handling.h"
@@ -266,7 +269,7 @@ TEST_F(SecurityLoggingTest, test_apply_logging_fails)
   eprosima::fastrtps::rtps::PropertyPolicy policy;
   EXPECT_FALSE(apply_security_logging_configuration(policy));
   EXPECT_TRUE(rmw_error_is_set());
-  EXPECT_THAT(rmw_get_error_string().str, HasSubstr("Please compile Fast-RTPS"));
+  EXPECT_THAT(rmw_get_error_string().str, HasSubstr("Please compile Fast DDS"));
 }
 
 #endif