diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
index 3b376b9cc..35ef66d0e 100644
--- a/rmw_fastrtps_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -89,6 +89,7 @@ add_library(rmw_fastrtps_cpp
   src/serialization_format.cpp
   src/subscription.cpp
   src/type_support_common.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_link_libraries(rmw_fastrtps_cpp
   fastcdr fastrtps)
diff --git a/rmw_fastrtps_cpp/src/publisher.cpp b/rmw_fastrtps_cpp/src/publisher.cpp
index 845cd825d..41df66259 100644
--- a/rmw_fastrtps_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_cpp/src/publisher.cpp
@@ -81,6 +81,13 @@ rmw_fastrtps_cpp::create_publisher(
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher_options, nullptr);
 
+  if (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED ==
+    publisher_options->require_unique_network_flow_endpoints)
+  {
+    RMW_SET_ERROR_MSG("Unique network flow endpoints not supported on publishers");
+    return nullptr;
+  }
+
   Participant * participant = participant_info->participant;
   RMW_CHECK_ARGUMENT_FOR_NULL(participant, nullptr);
 
diff --git a/rmw_fastrtps_cpp/src/rmw_get_endpoint_network_flow.cpp b/rmw_fastrtps_cpp/src/rmw_get_endpoint_network_flow.cpp
new file mode 100644
index 000000000..371c43d88
--- /dev/null
+++ b/rmw_fastrtps_cpp/src/rmw_get_endpoint_network_flow.cpp
@@ -0,0 +1,46 @@
+// Copyright 2016-2018 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.
+
+#include "rmw/get_network_flow_endpoints.h"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_network_flow_endpoints(
+    publisher,
+    allocator,
+    network_flow_endpoint_array);
+}
+
+rmw_ret_t
+rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_network_flow_endpoints(
+    subscription,
+    allocator,
+    network_flow_endpoint_array);
+}
+}  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/subscription.cpp b/rmw_fastrtps_cpp/src/subscription.cpp
index c8f69488e..30cbf6fb0 100644
--- a/rmw_fastrtps_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_cpp/src/subscription.cpp
@@ -46,6 +46,7 @@
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
+using PropertyPolicyHelper = eprosima::fastrtps::rtps::PropertyPolicyHelper;
 using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
 
 namespace rmw_fastrtps_cpp
@@ -169,7 +170,40 @@ create_subscription(
     }
   }
 
-  info->subscriber_ = Domain::createSubscriber(participant, subscriberParam, info->listener_);
+  eprosima::fastrtps::SubscriberAttributes originalParam = subscriberParam;
+  switch (subscription_options->require_unique_network_flow_endpoints) {
+    default:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_SYSTEM_DEFAULT:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED:
+      // Unique network flow endpoints not required. We leave the decission to the XML profile.
+      break;
+
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED:
+      // Ensure we request unique network flow endpoints
+      if (nullptr ==
+        PropertyPolicyHelper::find_property(
+          subscriberParam.properties,
+          "fastdds.unique_network_flows"))
+      {
+        subscriberParam.properties.properties().emplace_back("fastdds.unique_network_flows", "");
+      }
+      break;
+  }
+
+  info->subscriber_ = Domain::createSubscriber(
+    participant,
+    subscriberParam,
+    info->listener_);
+  if (!info->subscriber_ &&
+    (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED ==
+    subscription_options->require_unique_network_flow_endpoints))
+  {
+    info->subscriber_ = Domain::createSubscriber(
+      participant,
+      originalParam,
+      info->listener_);
+  }
   if (!info->subscriber_) {
     RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber");
     return nullptr;
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
index ec43fe20f..f91079b4d 100644
--- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -94,6 +94,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/type_support_common.cpp
   src/type_support_proxy.cpp
   src/type_support_registry.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_link_libraries(rmw_fastrtps_dynamic_cpp
   fastcdr fastrtps)
diff --git a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
index f6cfde1a1..899b05a9e 100644
--- a/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/publisher.cpp
@@ -81,6 +81,13 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
   }
   RMW_CHECK_ARGUMENT_FOR_NULL(publisher_options, nullptr);
 
+  if (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED ==
+    publisher_options->require_unique_network_flow_endpoints)
+  {
+    RMW_SET_ERROR_MSG("Unique network flow endpoints not supported on publishers");
+    return nullptr;
+  }
+
   Participant * participant = participant_info->participant;
   RMW_CHECK_ARGUMENT_FOR_NULL(participant, nullptr);
 
@@ -193,7 +200,10 @@ rmw_fastrtps_dynamic_cpp::create_publisher(
     return nullptr;
   }
 
-  info->publisher_ = Domain::createPublisher(participant, publisherParam, info->listener_);
+  info->publisher_ = Domain::createPublisher(
+    participant,
+    publisherParam,
+    info->listener_);
   if (!info->publisher_) {
     RMW_SET_ERROR_MSG("create_publisher() could not create publisher");
     return nullptr;
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_get_endpoint_network_flow.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_get_endpoint_network_flow.cpp
new file mode 100644
index 000000000..7740818e7
--- /dev/null
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_get_endpoint_network_flow.cpp
@@ -0,0 +1,46 @@
+// Copyright 2016-2018 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.
+
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
+#include "rmw/types.h"
+#include "rmw/get_network_flow_endpoints.h"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+extern "C"
+{
+rmw_ret_t
+rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_publisher_get_network_flow_endpoints(
+    publisher,
+    allocator,
+    network_flow_endpoint_array);
+}
+
+rmw_ret_t
+rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  return rmw_fastrtps_shared_cpp::__rmw_subscription_get_network_flow_endpoints(
+    subscription,
+    allocator,
+    network_flow_endpoint_array);
+}
+}  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
index 156fc6ece..41091471e 100644
--- a/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/subscription.cpp
@@ -44,6 +44,7 @@
 using BaseTypeSupport = rmw_fastrtps_dynamic_cpp::BaseTypeSupport;
 using Domain = eprosima::fastrtps::Domain;
 using Participant = eprosima::fastrtps::Participant;
+using PropertyPolicyHelper = eprosima::fastrtps::rtps::PropertyPolicyHelper;
 using TopicDataType = eprosima::fastrtps::TopicDataType;
 using TypeSupportProxy = rmw_fastrtps_dynamic_cpp::TypeSupportProxy;
 using XMLProfileManager = eprosima::fastrtps::xmlparser::XMLProfileManager;
@@ -180,7 +181,40 @@ create_subscription(
     return nullptr;
   }
 
-  info->subscriber_ = Domain::createSubscriber(participant, subscriberParam, info->listener_);
+  eprosima::fastrtps::SubscriberAttributes originalParam = subscriberParam;
+  switch (subscription_options->require_unique_network_flow_endpoints) {
+    default:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_SYSTEM_DEFAULT:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED:
+      // Unique network flow endpoints not required. We leave the decission to the XML profile.
+      break;
+
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED:
+    case RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED:
+      // Ensure we request unique network flow endpoints
+      if (nullptr ==
+        PropertyPolicyHelper::find_property(
+          subscriberParam.properties,
+          "fastdds.unique_network_flows"))
+      {
+        subscriberParam.properties.properties().emplace_back("fastdds.unique_network_flows", "");
+      }
+      break;
+  }
+
+  info->subscriber_ = Domain::createSubscriber(
+    participant,
+    subscriberParam,
+    info->listener_);
+  if (!info->subscriber_ &&
+    (RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED ==
+    subscription_options->require_unique_network_flow_endpoints))
+  {
+    info->subscriber_ = Domain::createSubscriber(
+      participant,
+      originalParam,
+      info->listener_);
+  }
   if (!info->subscriber_) {
     RMW_SET_ERROR_MSG("create_subscriber() could not create subscriber");
     return nullptr;
diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
index 71c39d2e6..5bf283fc9 100644
--- a/rmw_fastrtps_shared_cpp/CMakeLists.txt
+++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -86,6 +86,7 @@ add_library(rmw_fastrtps_shared_cpp
   src/rmw_wait_set.cpp
   src/subscription.cpp
   src/TypeSupport_impl.cpp
+  src/rmw_get_endpoint_network_flow.cpp
 )
 target_include_directories(rmw_fastrtps_shared_cpp
   PUBLIC
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index 1a9a0148b..082e5629a 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -23,6 +23,7 @@
 #include "rmw/topic_endpoint_info_array.h"
 #include "rmw/types.h"
 #include "rmw/names_and_types.h"
+#include "rmw/network_flow_endpoint_array.h"
 
 namespace rmw_fastrtps_shared_cpp
 {
@@ -401,6 +402,20 @@ __rmw_qos_profile_check_compatible(
   char * reason,
   size_t reason_size);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
+
 }  // namespace rmw_fastrtps_shared_cpp
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_get_endpoint_network_flow.cpp b/rmw_fastrtps_shared_cpp/src/rmw_get_endpoint_network_flow.cpp
new file mode 100644
index 000000000..f227eaf7d
--- /dev/null
+++ b/rmw_fastrtps_shared_cpp/src/rmw_get_endpoint_network_flow.cpp
@@ -0,0 +1,204 @@
+// Copyright 2020 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.
+
+#include <string>
+
+#include "rmw/get_network_flow_endpoints.h"
+#include "rmw/error_handling.h"
+#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+#include "fastrtps/utils/IPLocator.h"
+
+
+namespace rmw_fastrtps_shared_cpp
+{
+
+using Locator_t = eprosima::fastrtps::rtps::Locator_t;
+using LocatorList_t = eprosima::fastrtps::rtps::LocatorList_t;
+using IPLocator = eprosima::fastrtps::rtps::IPLocator;
+
+rmw_ret_t fill_network_flow_endpoint(rmw_network_flow_endpoint_t *, const Locator_t &);
+
+rmw_ret_t
+__rmw_publisher_get_network_flow_endpoints(
+  const rmw_publisher_t * publisher,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  rmw_ret_t res = RMW_RET_OK;
+
+  // Retrieve the sender locators
+  CustomPublisherInfo * data =
+    static_cast<CustomPublisherInfo *>(publisher->data);
+  LocatorList_t locators;
+  data->publisher_->get_sending_locators(locators);
+
+  if (locators.empty()) {
+    return res;
+  }
+
+  // It must be a non-initialized array
+  if (RMW_RET_OK !=
+    (res = rmw_network_flow_endpoint_array_check_zero(network_flow_endpoint_array)))
+  {
+    return res;
+  }
+
+  // Allocate
+  if (RMW_RET_OK !=
+    (res = rmw_network_flow_endpoint_array_init(
+      network_flow_endpoint_array,
+      locators.size(),
+      allocator)))
+  {
+    return res;
+  }
+
+  // Translate the locators, on error reset the array
+  try {
+    auto rmw_nf = network_flow_endpoint_array->network_flow_endpoint;
+    for (const Locator_t & loc : locators) {
+      if (RMW_RET_OK !=
+        (res = fill_network_flow_endpoint(rmw_nf++, loc)))
+      {
+        throw res;
+      }
+    }
+  } catch (rmw_ret_t) {
+    // clear the array
+    rmw_network_flow_endpoint_array_fini(
+      network_flow_endpoint_array);
+
+    // set error message
+    RMW_SET_ERROR_MSG("Failed to compose network_flow_endpoint_array");
+  }
+
+  return res;
+}
+
+rmw_ret_t
+__rmw_subscription_get_network_flow_endpoints(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_network_flow_endpoint_array_t * network_flow_endpoint_array)
+{
+  rmw_ret_t res = RMW_RET_OK;
+
+  // Retrieve the listener locators
+  CustomSubscriberInfo * data =
+    static_cast<CustomSubscriberInfo *>(subscription->data);
+  LocatorList_t locators;
+  data->subscriber_->get_listening_locators(locators);
+
+  if (locators.empty()) {
+    return res;
+  }
+
+  // It must be a non-initialized array
+  if (RMW_RET_OK !=
+    (res = rmw_network_flow_endpoint_array_check_zero(network_flow_endpoint_array)))
+  {
+    return res;
+  }
+
+  // Allocate
+  if (RMW_RET_OK !=
+    (res = rmw_network_flow_endpoint_array_init(
+      network_flow_endpoint_array,
+      locators.size(),
+      allocator)))
+  {
+    return res;
+  }
+
+  // Translate the locators, on error reset the array
+  try {
+    auto rmw_nf = network_flow_endpoint_array->network_flow_endpoint;
+    for (const Locator_t & loc : locators) {
+      if (RMW_RET_OK !=
+        (res = fill_network_flow_endpoint(rmw_nf++, loc)))
+      {
+        throw res;
+      }
+    }
+  } catch (rmw_ret_t) {
+    // clear the array
+    rmw_network_flow_endpoint_array_fini(
+      network_flow_endpoint_array);
+
+    // set error message
+    RMW_SET_ERROR_MSG("Failed to compose network_flow_endpoint_array");
+  }
+
+  return res;
+}
+
+// Ancillary translation methods
+rmw_transport_protocol_t
+get_transport_protocol(const Locator_t & loc)
+{
+  if (loc.kind & (LOCATOR_KIND_UDPv4 | LOCATOR_KIND_UDPv6)) {
+    return RMW_TRANSPORT_PROTOCOL_UDP;
+  } else if (loc.kind & (LOCATOR_KIND_TCPv4 | LOCATOR_KIND_TCPv6)) {
+    return RMW_TRANSPORT_PROTOCOL_TCP;
+  }
+
+  return RMW_TRANSPORT_PROTOCOL_UNKNOWN;
+}
+
+rmw_internet_protocol_t
+get_internet_protocol(const Locator_t & loc)
+{
+  if (loc.kind & (LOCATOR_KIND_UDPv4 | LOCATOR_KIND_TCPv4)) {
+    return RMW_INTERNET_PROTOCOL_IPV4;
+  } else if (loc.kind & (LOCATOR_KIND_TCPv6 | LOCATOR_KIND_UDPv6)) {
+    return RMW_INTERNET_PROTOCOL_IPV6;
+  }
+
+  return RMW_INTERNET_PROTOCOL_UNKNOWN;
+}
+
+rmw_ret_t
+fill_network_flow_endpoint(
+  rmw_network_flow_endpoint_t * network_flow_endpoint,
+  const Locator_t & locator)
+{
+  rmw_ret_t res = RMW_RET_OK;
+
+  // Translate transport protocol
+  network_flow_endpoint->transport_protocol = get_transport_protocol(locator);
+
+  // Translate internet protocol
+  network_flow_endpoint->internet_protocol = get_internet_protocol(locator);
+
+  // Set the port
+  network_flow_endpoint->transport_port = IPLocator::getPhysicalPort(locator);
+
+  // Set the address
+  std::string address = IPLocator::ip_to_string(locator);
+
+  if (RMW_RET_OK !=
+    (res = rmw_network_flow_endpoint_set_internet_address(
+      network_flow_endpoint,
+      address.c_str(),
+      address.length())))
+  {
+    return res;
+  }
+
+  return res;
+}
+
+}  // namespace rmw_fastrtps_shared_cpp