diff --git a/include/fastdds/dds/core/policy/ParameterTypes.hpp b/include/fastdds/dds/core/policy/ParameterTypes.hpp
index 3fc0a760456..d390fc0ca3b 100644
--- a/include/fastdds/dds/core/policy/ParameterTypes.hpp
+++ b/include/fastdds/dds/core/policy/ParameterTypes.hpp
@@ -28,7 +28,7 @@
 
 #include <fastdds/rtps/common/all_common.h>
 #include <fastdds/rtps/common/Token.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <fastdds/rtps/common/CDRMessage_t.h>
 
 #if HAVE_SECURITY
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
diff --git a/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp b/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp
index 6ef5c16e5b8..babed57bae1 100644
--- a/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp
+++ b/include/fastdds/rtps/messages/RTPSMessageSenderInterface.hpp
@@ -26,7 +26,7 @@
 #include <vector>
 
 #include <fastdds/rtps/common/Guid.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <fastdds/rtps/common/CDRMessage_t.h>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h b/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
index 79665530133..03e55a37c1a 100644
--- a/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
+++ b/include/fastdds/rtps/transport/test_UDPv4TransportDescriptor.h
@@ -16,10 +16,11 @@
 #define _FASTDDS_TEST_UDPV4_TRANSPORT_DESCRIPTOR_
 
 #include <functional>
+#include <atomic>
 
 #include <fastdds/rtps/transport/SocketTransportDescriptor.h>
 #include <fastdds/rtps/common/SequenceNumber.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <fastdds/rtps/common/CDRMessage_t.h>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/include/fastdds/rtps/writer/StatelessWriter.h b/include/fastdds/rtps/writer/StatelessWriter.h
index a78f81fee52..0f51fd9c60b 100644
--- a/include/fastdds/rtps/writer/StatelessWriter.h
+++ b/include/fastdds/rtps/writer/StatelessWriter.h
@@ -48,7 +48,7 @@ class StatelessWriter : public RTPSWriter
 {
     friend class RTPSParticipantImpl;
     friend class RTPSMessageGroup;
-    
+
 protected:
 
     StatelessWriter(
diff --git a/include/fastrtps/rtps/common/CDRMessage_t.h b/include/fastrtps/rtps/common/CDRMessage_t.h
deleted file mode 100644
index 2958348b2ca..00000000000
--- a/include/fastrtps/rtps/common/CDRMessage_t.h
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/**
- * @file CDRMessage_t.h
- */
-
-#ifndef CDRMESSAGE_T_H_
-#define CDRMESSAGE_T_H_
-
-#include <fastdds/rtps/common/CDRMessage_t.h>
-
-#endif /* CDRMESSAGE_T_H_ */
diff --git a/include/fastrtps/rtps/messages/CDRMessage.h b/include/fastrtps/rtps/messages/CDRMessage.h
deleted file mode 100644
index 32f9a01500a..00000000000
--- a/include/fastrtps/rtps/messages/CDRMessage.h
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-/**
- * @file CDRMessage.h
- */
-
-#ifndef CDRMESSAGE_H_
-#define CDRMESSAGE_H_
-
-#include <fastdds/rtps/messages/CDRMessage.h>
-
-#endif /* CDRMESSAGE_H_ */
diff --git a/src/cpp/fastdds/core/policy/ParameterList.hpp b/src/cpp/fastdds/core/policy/ParameterList.hpp
index ed0ecd22b08..6ea9a42b248 100644
--- a/src/cpp/fastdds/core/policy/ParameterList.hpp
+++ b/src/cpp/fastdds/core/policy/ParameterList.hpp
@@ -23,8 +23,8 @@
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/rtps/messages/RTPS_messages.h>
 #include <fastdds/rtps/common/CDRMessage_t.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/common/CacheChange.h>
+#include <rtps/messages/CDRMessage.h>
 
 #include <functional>
 
diff --git a/src/cpp/fastdds/topic/ContentFilterInfo.hpp b/src/cpp/fastdds/topic/ContentFilterInfo.hpp
index b1814a980ea..759a6c9ffca 100644
--- a/src/cpp/fastdds/topic/ContentFilterInfo.hpp
+++ b/src/cpp/fastdds/topic/ContentFilterInfo.hpp
@@ -26,7 +26,7 @@
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/rtps/common/SerializedPayload.h>
 #include <fastdds/rtps/common/CDRMessage_t.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp b/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp
index 3914bee1a7b..a590c831c36 100644
--- a/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp
+++ b/src/cpp/fastdds/topic/ContentFilteredTopicImpl.cpp
@@ -25,11 +25,11 @@
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/dds/domain/DomainParticipant.hpp>
 #include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/subscriber/DataReaderImpl.hpp>
 #include <fastdds/topic/ContentFilterUtils.hpp>
 #include <fastdds/topic/TopicProxy.hpp>
 #include <fastdds/utils/md5.h>
+#include <rtps/messages/CDRMessage.h>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/liveliness/WLPListener.cpp b/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
index d0f6e4ed492..35633035a2e 100644
--- a/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
+++ b/src/cpp/rtps/builtin/liveliness/WLPListener.cpp
@@ -32,12 +32,12 @@
 #include <fastdds/rtps/common/SerializedPayload.h>
 #include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/reader/RTPSReader.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/discovery/participant/PDPSimple.h>
 #include <rtps/builtin/liveliness/WLP.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/writer/LivelinessManager.hpp>
 
 namespace eprosima {
diff --git a/include/fastdds/rtps/messages/CDRMessage.hpp b/src/cpp/rtps/messages/CDRMessage.cpp
similarity index 99%
rename from include/fastdds/rtps/messages/CDRMessage.hpp
rename to src/cpp/rtps/messages/CDRMessage.cpp
index 414ec888f44..ed9313c6396 100644
--- a/include/fastdds/rtps/messages/CDRMessage.hpp
+++ b/src/cpp/rtps/messages/CDRMessage.cpp
@@ -15,10 +15,12 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
 /**
- * @file CDRMessage.hpp
+ * @file CDRMessage.cpp
  *
  */
 
+#include "CDRMessage.h"
+
 #include <cassert>
 #include <cstring>
 #include <algorithm>
diff --git a/include/fastdds/rtps/messages/CDRMessage.h b/src/cpp/rtps/messages/CDRMessage.h
similarity index 81%
rename from include/fastdds/rtps/messages/CDRMessage.h
rename to src/cpp/rtps/messages/CDRMessage.h
index d5fb563e08e..6ebe98167cc 100644
--- a/include/fastdds/rtps/messages/CDRMessage.h
+++ b/src/cpp/rtps/messages/CDRMessage.h
@@ -53,116 +53,116 @@ namespace CDRMessage {
  * @return True if correct.
  */
 /// @{
-inline bool readEntityId(
+bool readEntityId(
         CDRMessage_t* msg,
         EntityId_t* id);
 
-inline bool readData(
+bool readData(
         CDRMessage_t* msg,
         octet* o,
         uint32_t length);
 
-inline bool read_array_with_max_size(
+bool read_array_with_max_size(
         CDRMessage_t* msg,
         octet* arr,
         size_t max_size);
 
-inline bool readDataReversed(
+bool readDataReversed(
         CDRMessage_t* msg,
         octet* o,
         uint32_t length);
 
-inline bool readInt32(
+bool readInt32(
         CDRMessage_t* msg,
         int32_t* lo);
 
-inline bool readUInt32(
+bool readUInt32(
         CDRMessage_t* msg,
         uint32_t* ulo);
 
-inline bool readInt64(
+bool readInt64(
         CDRMessage_t* msg,
         int64_t* lolo);
 
-inline bool readUInt64(
+bool readUInt64(
         CDRMessage_t* msg,
         uint64_t* lolo);
 
-inline bool readSequenceNumber(
+bool readSequenceNumber(
         CDRMessage_t* msg,
         SequenceNumber_t* sn);
 
-inline bool readInt16(
+bool readInt16(
         CDRMessage_t* msg,
         int16_t* i16);
 
-inline bool readUInt16(
+bool readUInt16(
         CDRMessage_t* msg,
         uint16_t* i16);
 
-inline bool readLocator(
+bool readLocator(
         CDRMessage_t* msg,
         Locator_t* loc);
 
-inline bool readOctet(
+bool readOctet(
         CDRMessage_t* msg,
         octet* o);
 
-inline SequenceNumberSet_t readSequenceNumberSet(
+SequenceNumberSet_t readSequenceNumberSet(
         CDRMessage_t* msg);
 
-inline bool readFragmentNumberSet(
+bool readFragmentNumberSet(
         CDRMessage_t* msg,
         FragmentNumberSet_t* snset);
 
-inline bool readTimestamp(
+bool readTimestamp(
         CDRMessage_t* msg,
         Time_t* ts);
 
-inline bool readString(
+bool readString(
         CDRMessage_t* msg,
         std::string* p_str);
 
-inline bool readString(
+bool readString(
         CDRMessage_t* msg,
         fastcdr::string_255* stri);
 
-inline bool readOctetVector(
+bool readOctetVector(
         CDRMessage_t* msg,
         std::vector<octet>* ocvec);
 
-inline bool readProperty(
+bool readProperty(
         CDRMessage_t* msg,
         Property& property);
 
-inline bool readBinaryProperty(
+bool readBinaryProperty(
         CDRMessage_t* msg,
         BinaryProperty& binary_property);
 
-inline bool readPropertySeq(
+bool readPropertySeq(
         CDRMessage_t* msg,
         PropertySeq& properties,
         const uint32_t parameter_length);
 
-inline bool readBinaryPropertySeq(
+bool readBinaryPropertySeq(
         CDRMessage_t* msg,
         BinaryPropertySeq& binary_properties,
         const uint32_t parameter_length);
 
-inline bool readDataHolder(
+bool readDataHolder(
         CDRMessage_t* msg,
         DataHolder& data_holder,
         const uint32_t parameter_length);
 
-inline bool readDataHolderSeq(
+bool readDataHolderSeq(
         CDRMessage_t* msg,
         DataHolderSeq& data_holders);
 
-inline bool readMessageIdentity(
+bool readMessageIdentity(
         CDRMessage_t* msg,
         security::MessageIdentity& message_identity);
 
-inline bool readParticipantGenericMessage(
+bool readParticipantGenericMessage(
         CDRMessage_t* msg,
         security::ParticipantGenericMessage& message);
 ///@}
@@ -174,11 +174,11 @@ inline bool readParticipantGenericMessage(
  * @param data_size Size of the data the message is suppose to carry
  * @return True if correct.
  */
-inline bool initCDRMsg(
+bool initCDRMsg(
         CDRMessage_t* msg,
         uint32_t data_size = RTPSMESSAGE_COMMON_DATA_PAYLOAD_SIZE);
 
-inline bool wrapVector(
+bool wrapVector(
         CDRMessage_t* msg,
         std::vector<octet>& vectorToWrap);
 
@@ -188,7 +188,7 @@ inline bool wrapVector(
  * @param[in] second Pointer to second message.
  ** @return True if correct.
  */
-inline bool appendMsg(
+bool appendMsg(
         CDRMessage_t* first,
         CDRMessage_t* second);
 
@@ -205,127 +205,127 @@ inline bool appendMsg(
 /// @{
 
 template<typename T>
-inline bool addPrimitive(
+bool addPrimitive(
         CDRMessage_t* msg,
         T value);
 
-inline bool hasSpace(
+bool hasSpace(
         CDRMessage_t* msg,
         const uint32_t length);
 
-inline void copyToBuffer(
+void copyToBuffer(
         CDRMessage_t* msg,
         const octet* data,
         const uint32_t length,
         bool reverse = false);
 
-inline bool addData(
+bool addData(
         CDRMessage_t*,
         const octet*,
         const uint32_t number_bytes);
-inline bool addDataReversed(
+bool addDataReversed(
         CDRMessage_t*,
         const octet*,
         const uint32_t byte_number);
 
-inline bool addOctet(
+bool addOctet(
         CDRMessage_t* msg,
         octet o);
 
-inline bool addUInt16(
+bool addUInt16(
         CDRMessage_t* msg,
         uint16_t us);
 
-inline bool addInt32(
+bool addInt32(
         CDRMessage_t* msg,
         int32_t lo);
 
-inline bool addUInt32(
+bool addUInt32(
         CDRMessage_t* msg,
         uint32_t lo);
 
-inline bool addInt64(
+bool addInt64(
         CDRMessage_t* msg,
         int64_t lo);
 
-inline bool addUInt64(
+bool addUInt64(
         CDRMessage_t* msg,
         uint64_t lo);
 
-inline bool addEntityId(
+bool addEntityId(
         CDRMessage_t* msg,
         const EntityId_t* id);
 
-inline bool addSequenceNumber(
+bool addSequenceNumber(
         CDRMessage_t* msg,
         const SequenceNumber_t* sn);
 
-inline bool addSequenceNumberSet(
+bool addSequenceNumberSet(
         CDRMessage_t* msg,
         const SequenceNumberSet_t* sns);
 
-inline bool addFragmentNumberSet(
+bool addFragmentNumberSet(
         CDRMessage_t* msg,
         FragmentNumberSet_t* fns);
 
-inline bool addLocator(
+bool addLocator(
         CDRMessage_t* msg,
         const Locator_t& loc);
 
-inline bool add_string(
+bool add_string(
         CDRMessage_t* msg,
         const char* in_str);
 
-inline bool add_string(
+bool add_string(
         CDRMessage_t* msg,
         const std::string& in_str);
 
-inline bool add_string(
+bool add_string(
         CDRMessage_t* msg,
         const fastcdr::string_255& in_str);
 
-inline bool addOctetVector(
+bool addOctetVector(
         CDRMessage_t* msg,
         const std::vector<octet>* ocvec,
         bool add_final_padding = true);
 
-inline bool addProperty(
+bool addProperty(
         CDRMessage_t* msg,
         const Property& property);
 
-inline bool addBinaryProperty(
+bool addBinaryProperty(
         CDRMessage_t* msg,
         const BinaryProperty& binary_property,
         bool add_final_padding = true);
 
-inline bool addPropertySeq(
+bool addPropertySeq(
         CDRMessage_t* msg,
         const PropertySeq& properties);
 
-inline bool addBinaryPropertySeq(
+bool addBinaryPropertySeq(
         CDRMessage_t* msg,
         const BinaryPropertySeq& binary_properties,
         bool add_final_padding);
 
-inline bool addBinaryPropertySeq(
+bool addBinaryPropertySeq(
         CDRMessage_t* msg,
         const BinaryPropertySeq& binary_properties,
         const std::string& name_start,
         bool add_final_padding);
 
-inline bool addDataHolder(
+bool addDataHolder(
         CDRMessage_t* msg,
         const DataHolder& data_holder);
 
-inline bool addDataHolderSeq(
+bool addDataHolderSeq(
         CDRMessage_t* msg,
         const DataHolderSeq& data_holders);
 
-inline bool addMessageIdentity(
+bool addMessageIdentity(
         CDRMessage_t* msg,
         const security::MessageIdentity& message_identity);
 
-inline bool addParticipantGenericMessage(
+bool addParticipantGenericMessage(
         CDRMessage_t* msg,
         const security::ParticipantGenericMessage& message);
 
@@ -338,7 +338,7 @@ inline bool addParticipantGenericMessage(
  * @param length The number of bytes to skip
  * @return true if skipped, false otherwise
  */
-inline bool skip(
+bool skip(
         CDRMessage_t* msg,
         uint32_t length);
 
@@ -350,7 +350,7 @@ inline bool skip(
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
-#include <fastdds/rtps/messages/CDRMessage.hpp>
+#include "CDRMessage.cpp"
 
 #endif /* DOXYGEN_SHOULD_SKIP_THIS */
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
diff --git a/src/cpp/rtps/messages/RTPSMessageCreator.cpp b/src/cpp/rtps/messages/RTPSMessageCreator.cpp
index 6e1de4b2998..2556393b084 100644
--- a/src/cpp/rtps/messages/RTPSMessageCreator.cpp
+++ b/src/cpp/rtps/messages/RTPSMessageCreator.cpp
@@ -20,7 +20,7 @@
 #include <fastdds/core/policy/ParameterList.hpp>
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/common/VendorId_t.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/messages/RTPSMessageCreator.h>
 
 using namespace eprosima::fastrtps;
diff --git a/src/cpp/rtps/messages/RTPSMessageGroup_t.hpp b/src/cpp/rtps/messages/RTPSMessageGroup_t.hpp
index afa2ed303c9..b889d533ade 100644
--- a/src/cpp/rtps/messages/RTPSMessageGroup_t.hpp
+++ b/src/cpp/rtps/messages/RTPSMessageGroup_t.hpp
@@ -22,7 +22,7 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 #include <fastdds/rtps/common/CDRMessage_t.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/messages/RTPSMessageCreator.h>
 
 namespace eprosima {
diff --git a/src/cpp/rtps/security/SecurityManager.cpp b/src/cpp/rtps/security/SecurityManager.cpp
index d962d0954dc..7ceddd4a7fa 100644
--- a/src/cpp/rtps/security/SecurityManager.cpp
+++ b/src/cpp/rtps/security/SecurityManager.cpp
@@ -30,7 +30,6 @@
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
 #include <fastdds/rtps/reader/StatefulReader.h>
 #include <fastdds/rtps/reader/StatelessReader.h>
@@ -44,6 +43,7 @@
 
 #include <rtps/builtin/discovery/endpoint/EDP.h>
 #include <rtps/builtin/discovery/participant/PDP.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <rtps/network/NetworkFactory.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
diff --git a/src/cpp/rtps/transport/UDPTransportInterface.cpp b/src/cpp/rtps/transport/UDPTransportInterface.cpp
index fa924ee0469..f35b44c7325 100644
--- a/src/cpp/rtps/transport/UDPTransportInterface.cpp
+++ b/src/cpp/rtps/transport/UDPTransportInterface.cpp
@@ -20,9 +20,9 @@
 #include <chrono>
 
 #include <fastdds/rtps/transport/TransportInterface.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/utils/IPLocator.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/transport/UDPSenderResource.hpp>
 #include <statistics/rtps/messages/RTPSStatisticsMessages.hpp>
 
diff --git a/src/cpp/rtps/transport/UDPv4Transport.cpp b/src/cpp/rtps/transport/UDPv4Transport.cpp
index 5ade2ae6f43..ed5fc9f7e53 100644
--- a/src/cpp/rtps/transport/UDPv4Transport.cpp
+++ b/src/cpp/rtps/transport/UDPv4Transport.cpp
@@ -19,11 +19,11 @@
 #include <utility>
 
 #include <fastdds/dds/log/Log.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/transport/SenderResource.h>
 #include <fastdds/rtps/transport/TransportInterface.h>
 #include <fastdds/utils/IPLocator.h>
 
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/messages/MessageReceiver.h>
 #include <rtps/network/ReceiverResource.h>
 #include <rtps/network/utils/netmask_filter.hpp>
diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp b/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
index 809c62e54a7..f43f8dde615 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
@@ -24,10 +24,10 @@
 
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/common/Locator.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/transport/SenderResource.h>
 #include <fastdds/rtps/transport/TransportInterface.h>
 
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/messages/MessageReceiver.h>
 #include <rtps/network/ReceiverResource.h>
 #include <rtps/transport/shared_mem/SharedMemChannelResource.hpp>
diff --git a/src/cpp/rtps/transport/test_UDPv4Transport.h b/src/cpp/rtps/transport/test_UDPv4Transport.h
index 8bf175f1816..46f018062fc 100644
--- a/src/cpp/rtps/transport/test_UDPv4Transport.h
+++ b/src/cpp/rtps/transport/test_UDPv4Transport.h
@@ -19,8 +19,8 @@
 
 #include <fastdds/rtps/common/SequenceNumber.h>
 #include <fastdds/rtps/messages/RTPS_messages.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/transport/test_UDPv4TransportDescriptor.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/transport/UDPv4Transport.h>
 
 
diff --git a/src/cpp/security/authentication/PKIDH.cpp b/src/cpp/security/authentication/PKIDH.cpp
index 921202fe618..1f8a0e94a7c 100644
--- a/src/cpp/security/authentication/PKIDH.cpp
+++ b/src/cpp/security/authentication/PKIDH.cpp
@@ -21,16 +21,15 @@
 #define OPENSSL_API_COMPAT 10101
 
 #include <security/authentication/PKIDH.h>
-#include <security/authentication/PKIIdentityHandle.h>
+
+#include <fastdds/core/policy/ParameterList.hpp>
 #include <fastdds/rtps/security/logging/Logging.h>
 #include <fastdds/dds/log/Log.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
-
+#include <rtps/messages/CDRMessage.h>
+#include <security/authentication/PKIIdentityHandle.h>
 #include <openssl/opensslv.h>
 
-#include <fastdds/core/policy/ParameterList.hpp>
-
 #if OPENSSL_VERSION_NUMBER >= 0x10100000L
 #define IS_OPENSSL_1_1 1
 #define OPENSSL_CONST const
diff --git a/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp b/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
index 8d7bb092f0c..e85d6740799 100644
--- a/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
+++ b/src/cpp/security/cryptography/AESGCMGMAC_Transform.cpp
@@ -20,7 +20,7 @@
 
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/common/CdrSerialization.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 
 #include <openssl/aes.h>
 #include <openssl/evp.h>
diff --git a/src/cpp/statistics/rtps/messages/RTPSStatisticsMessages.hpp b/src/cpp/statistics/rtps/messages/RTPSStatisticsMessages.hpp
index 64f7dfc475f..d8b4126959c 100644
--- a/src/cpp/statistics/rtps/messages/RTPSStatisticsMessages.hpp
+++ b/src/cpp/statistics/rtps/messages/RTPSStatisticsMessages.hpp
@@ -25,7 +25,7 @@
 
 #include <fastdds/rtps/common/CDRMessage_t.h>
 #include <fastdds/rtps/common/Types.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/messages/RTPSMessageCreator.h>
 
 #define FASTDDS_STATISTICS_NETWORK_SUBMESSAGE 0x80
diff --git a/test/blackbox/common/BlackboxTestsKeys.cpp b/test/blackbox/common/BlackboxTestsKeys.cpp
index 7a55e9891e9..923ad08f17c 100644
--- a/test/blackbox/common/BlackboxTestsKeys.cpp
+++ b/test/blackbox/common/BlackboxTestsKeys.cpp
@@ -18,6 +18,7 @@
 #include "PubSubWriter.hpp"
 
 #include <fastrtps/transport/test_UDPv4TransportDescriptor.h>
+#include <rtps/messages/CDRMessage.h>
 
 TEST(KeyedTopic, RegistrationNonKeyedFail)
 {
diff --git a/test/blackbox/common/DDSBlackboxTestsContentFilter.cpp b/test/blackbox/common/DDSBlackboxTestsContentFilter.cpp
index dc72f1e5479..24eebf72aa6 100644
--- a/test/blackbox/common/DDSBlackboxTestsContentFilter.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsContentFilter.cpp
@@ -21,7 +21,9 @@
 #include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
 #include <fastdds/dds/subscriber/Subscriber.hpp>
 #include <fastdds/LibrarySettings.hpp>
+#include <fastdds/rtps/common/CDRMessage_t.h>
 #include <fastdds/rtps/transport/test_UDPv4TransportDescriptor.h>
+#include <rtps/messages/CDRMessage.h>
 #include <gtest/gtest.h>
 
 #include "../types/HelloWorldTypeObjectSupport.hpp"
diff --git a/test/blackbox/common/DDSBlackboxTestsListeners.cpp b/test/blackbox/common/DDSBlackboxTestsListeners.cpp
index 185e0965c0f..fcf2a55eddf 100644
--- a/test/blackbox/common/DDSBlackboxTestsListeners.cpp
+++ b/test/blackbox/common/DDSBlackboxTestsListeners.cpp
@@ -22,6 +22,7 @@
 #include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 #include <fastdds/LibrarySettings.hpp>
 #include <fastdds/rtps/transport/test_UDPv4TransportDescriptor.h>
+#include <rtps/messages/CDRMessage.h>
 
 #include "BlackboxTests.hpp"
 #include "PubSubReader.hpp"
diff --git a/test/mock/rtps/EDP/rtps/builtin/discovery/endpoint/EDP.h b/test/mock/rtps/EDP/rtps/builtin/discovery/endpoint/EDP.h
index 1bac39bab51..4f4b850545e 100644
--- a/test/mock/rtps/EDP/rtps/builtin/discovery/endpoint/EDP.h
+++ b/test/mock/rtps/EDP/rtps/builtin/discovery/endpoint/EDP.h
@@ -23,7 +23,7 @@
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
 #include <fastdds/rtps/builtin/data/ReaderProxyData.h>
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 
diff --git a/test/mock/rtps/PDP/rtps/builtin/discovery/participant/PDP.h b/test/mock/rtps/PDP/rtps/builtin/discovery/participant/PDP.h
index 297ab86bbb4..c623e91c5ce 100644
--- a/test/mock/rtps/PDP/rtps/builtin/discovery/participant/PDP.h
+++ b/test/mock/rtps/PDP/rtps/builtin/discovery/participant/PDP.h
@@ -22,10 +22,9 @@
 #include <gmock/gmock.h>
 
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
-
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/discovery/endpoint/EDP.h>
+#include <rtps/messages/CDRMessage.h>
 #include <utils/ProxyPool.hpp>
 
 #ifdef FASTDDS_STATISTICS
diff --git a/test/mock/rtps/PDPSimple/rtps/builtin/discovery/participant/PDPSimple.h b/test/mock/rtps/PDPSimple/rtps/builtin/discovery/participant/PDPSimple.h
index 1012f973e76..4540baafd86 100644
--- a/test/mock/rtps/PDPSimple/rtps/builtin/discovery/participant/PDPSimple.h
+++ b/test/mock/rtps/PDPSimple/rtps/builtin/discovery/participant/PDPSimple.h
@@ -22,10 +22,10 @@
 #include <gmock/gmock.h>
 
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
 #include <rtps/builtin/discovery/endpoint/EDP.h>
+#include <rtps/messages/CDRMessage.h>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
index b35f180aad9..ff2db4c901c 100644
--- a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
+++ b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
@@ -29,8 +29,8 @@
 #include <fastdds/rtps/common/SequenceNumber.h>
 #include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/common/VendorId_t.hpp>
-#include <fastdds/rtps/messages/CDRMessage.h>
 
+#include <rtps/messages/CDRMessage.h>
 #include <rtps/network/NetworkFactory.h>
 
 namespace eprosima {
diff --git a/test/unittest/security/accesscontrol/AccessControlTests.cpp b/test/unittest/security/accesscontrol/AccessControlTests.cpp
index afdfe5c4f51..8ffa196a941 100644
--- a/test/unittest/security/accesscontrol/AccessControlTests.cpp
+++ b/test/unittest/security/accesscontrol/AccessControlTests.cpp
@@ -19,8 +19,7 @@
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
 #include <fastdds/rtps/builtin/data/ReaderProxyData.h>
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
-#include <fastdds/rtps/messages/CDRMessage.h>
-
+#include <rtps/messages/CDRMessage.h>
 #include <security/accesscontrol/AccessPermissionsHandle.h>
 #include <security/accesscontrol/Permissions.h>
 #include <security/authentication/PKIDH.h>
diff --git a/test/unittest/security/authentication/BuiltinPKIDHTests.cpp b/test/unittest/security/authentication/BuiltinPKIDHTests.cpp
index 37622e782f1..3422e445ccf 100644
--- a/test/unittest/security/authentication/BuiltinPKIDHTests.cpp
+++ b/test/unittest/security/authentication/BuiltinPKIDHTests.cpp
@@ -20,7 +20,7 @@
 #include <openssl/opensslv.h>
 #include <openssl/pem.h>
 
-#include <fastdds/rtps/messages/CDRMessage.h>
+#include <rtps/messages/CDRMessage.h>
 
 #include "AuthenticationPluginTests.hpp"
 #include <security/authentication/PKIHandshakeHandle.h>