Add support for FastDDS versions earlier than 2.13 (#424)

* Add support for FastDDS versions earlier than 2.13 Signed-off-by: Irene Bandera <irenebandera@eprosima.com> * Uncrustify Signed-off-by: Irene Bandera <irenebandera@eprosima.com> --------- Signed-off-by: Irene Bandera <irenebandera@eprosima.com>
eProsima · Jan 26, 2024 · 7444488 · 7444488
1 parent 351aa53
commit 7444488
Show file tree

Hide file tree

Showing 34 changed files with 1,604 additions and 44 deletions.
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/WAN/CMakeLists.txt b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/WAN/CMakeLists.txt
@@ -19,16 +19,23 @@
 set(TEST_NAME
  DDSTestWAN)
 
+# Determine Fast DDS version
+if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
+ set(DDS_TYPES_VERSION "v1")
+else()
+ set(DDS_TYPES_VERSION "v2")
+endif()
+
 set(TEST_SOURCES
- DDSTestWAN.cpp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorld.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldPubSubTypes.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyed.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
+DDSTestWAN.cpp
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorld.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldPubSubTypes.cxx
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyed.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
 
 set(TEST_LIST
  end_to_end_discovery_server_WAN_communication_UDPv4
@@ -63,7 +70,7 @@ set(TEST_NEEDED_SOURCES
  )
 
 set(TEST_EXTRA_HEADERS
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld
  ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
 
 add_blackbox_executable(

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/CMakeLists.txt b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/CMakeLists.txt
@@ -19,16 +19,23 @@
 set(TEST_NAME
  DDSTestLocal)
 
+# Determine Fast DDS version
+if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
+ set(DDS_TYPES_VERSION "v1")
+else()
+ set(DDS_TYPES_VERSION "v2")
+endif()
+
 set(TEST_SOURCES
  DDSTestLocal.cpp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorld.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldPubSubTypes.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyed.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorld.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldPubSubTypes.cxx
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyed.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
 
 set(TEST_LIST
  end_to_end_local_communication
@@ -45,8 +52,8 @@ set(TEST_NEEDED_SOURCES
  )
 
 set(TEST_EXTRA_HEADERS
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed,
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed,
  ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
 
 add_blackbox_executable(
@@ -65,14 +72,14 @@ set(TEST_NAME
 
 set(TEST_SOURCES
  DDSTestLocalDisposeKey.cpp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorld.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldPubSubTypes.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyed.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorld.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldPubSubTypes.cxx
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyed.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
 
 set(TEST_LIST
  end_to_end_local_communication_key_dispose)
@@ -81,7 +88,7 @@ set(TEST_NEEDED_SOURCES
  )
 
 set(TEST_EXTRA_HEADERS
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed,
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed,
  ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
 
 add_blackbox_executable(

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
@@ -111,7 +111,11 @@ DdsRouterConfiguration dds_test_simple_configuration(
  * The transient_local option changes the test behavior to verify that the communication is transient_local and all old data is sent
  * to Late Joiners.
  */
+#if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+template <class MsgStruct>
+#else
 template <class MsgStruct, class MsgStructType>
+#endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 void test_local_communication(
  DdsRouterConfiguration ddsrouter_configuration,
  uint32_t samples_to_receive = DEFAULT_SAMPLES_TO_RECEIVE,
@@ -130,7 +134,10 @@ void test_local_communication(
 
  // Create a message with size specified by repeating the same string
  MsgStruct msg;
+
+ #if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 13
  MsgStructType type;
+ #endif // if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 13
 
  std::string msg_str;
 
@@ -142,11 +149,21 @@ void test_local_communication(
  msg.message(msg_str);
 
  // Create DDS Publisher in domain 0
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ TestPublisher<MsgStruct> publisher(msg.isKeyDefined());
+ #else
  TestPublisher<MsgStruct> publisher(type.m_isGetKeyDefined);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+
  ASSERT_TRUE(publisher.init(0));
 
  // Create DDS Subscriber in domain 1
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ TestSubscriber<MsgStruct> subscriber(msg.isKeyDefined(), transient_local);
+ #else
  TestSubscriber<MsgStruct> subscriber(type.m_isGetKeyDefined, transient_local);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+
  ASSERT_TRUE(subscriber.init(1, &msg, &samples_received));
 
  // Create DdsRouter entity
@@ -209,8 +226,14 @@ void test_local_communication(
  */
 TEST(DDSTestLocal, end_to_end_local_communication)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration());
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration());
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+
 }
 
 /**
@@ -219,8 +242,13 @@ TEST(DDSTestLocal, end_to_end_local_communication)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_keyed)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorldKeyed>(
+ test::dds_test_simple_configuration());
+ #else
  test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
  test::dds_test_simple_configuration());
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -230,14 +258,24 @@ TEST(DDSTestLocal, end_to_end_local_communication_keyed)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(true));
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(true));
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery_keyed)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorldKeyed>(
+ test::dds_test_simple_configuration(true));
+ #else
  test::test_local_communication<HelloWorldKeyed, HelloWorldKeyedPubSubType>(
  test::dds_test_simple_configuration(true));
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -249,10 +287,17 @@ TEST(DDSTestLocal, end_to_end_local_communication_disable_dynamic_discovery_keye
  */
 TEST(DDSTestLocal, end_to_end_local_communication_high_frequency)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(),
+ 1000, // wait for 1000 samples received
+ 0); // send it without waiting from one sample to the other
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(),
- 1000, // wait for 1000 samples received
- 0); // send it without waiting from one sample to the other
+ 1000, // wait for 1000 samples received
+ 0); // send it without waiting from one sample to the other
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -264,11 +309,19 @@ TEST(DDSTestLocal, end_to_end_local_communication_high_frequency)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_high_size)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(),
+ test::DEFAULT_SAMPLES_TO_RECEIVE,
+ test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
+ 10000); // 500K message size
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(),
  test::DEFAULT_SAMPLES_TO_RECEIVE,
  test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
- 10000); // 500K message size
+ 10000); // 500K message size
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -282,11 +335,19 @@ TEST(DDSTestLocal, end_to_end_local_communication_high_size)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_high_throughput)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(),
+ 500,
+ 1,
+ 1000); // 50K message size
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(),
  500,
  1,
- 1000); // 50K message size
+ 1000); // 50K message size
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -295,12 +356,21 @@ TEST(DDSTestLocal, end_to_end_local_communication_high_throughput)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_transient_local)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(),
+ test::DEFAULT_SAMPLES_TO_RECEIVE,
+ test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
+ test::DEFAULT_MESSAGE_SIZE,
+ true);
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(),
  test::DEFAULT_SAMPLES_TO_RECEIVE,
  test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
  test::DEFAULT_MESSAGE_SIZE,
  true);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 /**
@@ -309,12 +379,21 @@ TEST(DDSTestLocal, end_to_end_local_communication_transient_local)
  */
 TEST(DDSTestLocal, end_to_end_local_communication_transient_local_disable_dynamic_discovery)
 {
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ test::test_local_communication<HelloWorld>(
+ test::dds_test_simple_configuration(true, true),
+ test::DEFAULT_SAMPLES_TO_RECEIVE,
+ test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
+ test::DEFAULT_MESSAGE_SIZE,
+ true);
+ #else
  test::test_local_communication<HelloWorld, HelloWorldPubSubType>(
  test::dds_test_simple_configuration(true, true),
  test::DEFAULT_SAMPLES_TO_RECEIVE,
  test::DEFAULT_MILLISECONDS_PUBLISH_LOOP,
  test::DEFAULT_MESSAGE_SIZE,
  true);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
 }
 
 int main(

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocalDisposeKey.cpp
@@ -98,7 +98,11 @@ void test_local_communication_key_dispose(
 
  // Create a message with size specified by repeating the same string
  HelloWorldKeyed msg;
+
+ #if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 13
  HelloWorldKeyedPubSubType type;
+ #endif // if FASTRTPS_VERSION_MAJOR >= 2 && FASTRTPS_VERSION_MINOR >= 13
+
  std::string msg_str;
 
  // Add this string as many times as the msg size requires
@@ -110,11 +114,21 @@ void test_local_communication_key_dispose(
  msg.id(666);
 
  // Create DDS Publisher in domain 0
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ TestPublisher<HelloWorldKeyed> publisher(msg.isKeyDefined());
+ #else
  TestPublisher<HelloWorldKeyed> publisher(type.m_isGetKeyDefined);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+
  ASSERT_TRUE(publisher.init(0));
 
  // Create DDS Subscriber in domain 1
+ #if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+ TestSubscriber<HelloWorldKeyed> subscriber(msg.isKeyDefined());
+ #else
  TestSubscriber<HelloWorldKeyed> subscriber(type.m_isGetKeyDefined);
+ #endif // if FASTRTPS_VERSION_MAJOR <= 2 && FASTRTPS_VERSION_MINOR < 13
+
  ASSERT_TRUE(subscriber.init(1, &msg, &samples_received));
 
  // Create DdsRouter entity

diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/CMakeLists.txt b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/repeater/CMakeLists.txt
@@ -19,16 +19,23 @@
 set(TEST_NAME
  DDSTestRepeater)
 
+# Determine Fast DDS version
+if ("${fastrtps_VERSION}" VERSION_LESS 2.13)
+ set(DDS_TYPES_VERSION "v1")
+else()
+ set(DDS_TYPES_VERSION "v2")
+endif()
+
 set(TEST_SOURCES
  DDSTestRepeater.cpp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorld.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld/HelloWorldPubSubTypes.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyed.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedv1.cxx
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorld.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld/HelloWorldPubSubTypes.cxx
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyed.cxx
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedv1.cxx>
+ $<$<STREQUAL:${DDS_TYPES_VERSION},v2>:${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedCdrAux.ipp>
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorldKeyed/HelloWorldKeyedPubSubTypes.cxx)
 
 set(TEST_LIST
  repeater_initial_peers_communication_UDPv4
@@ -38,7 +45,7 @@ set(TEST_NEEDED_SOURCES
  )
 
 set(TEST_EXTRA_HEADERS
- ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/HelloWorld
+ ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types/${DDS_TYPES_VERSION}/HelloWorld
  ${PROJECT_SOURCE_DIR}/test/blackbox/ddsrouter_core/dds/types)
 
 add_blackbox_executable(