diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
index 7a5e2ab085f..613c9b4c5d9 100644
--- a/src/cpp/CMakeLists.txt
+++ b/src/cpp/CMakeLists.txt
@@ -139,6 +139,7 @@ set(${PROJECT_NAME}_source_files
     rtps/history/TopicPayloadPool.cpp
     rtps/history/TopicPayloadPoolRegistry.cpp
     rtps/history/WriterHistory.cpp
+    rtps/messages/CDRMessage.cpp
     rtps/messages/MessageReceiver.cpp
     rtps/messages/RTPSGapBuilder.cpp
     rtps/messages/RTPSMessageCreator.cpp
diff --git a/src/cpp/fastdds/core/policy/ParameterList.hpp b/src/cpp/fastdds/core/policy/ParameterList.hpp
index c2ec94daa63..39dd77057fd 100644
--- a/src/cpp/fastdds/core/policy/ParameterList.hpp
+++ b/src/cpp/fastdds/core/policy/ParameterList.hpp
@@ -22,8 +22,8 @@
 
 #include <fastdds/dds/core/policy/ParameterTypes.hpp>
 #include <fastdds/rtps/messages/RTPS_messages.h>
-#include <fastdds/rtps/common/CDRMessage_t.h>
 #include <fastdds/rtps/common/CacheChange.h>
+
 #include <rtps/messages/CDRMessage.hpp>
 
 #include <functional>
diff --git a/src/cpp/rtps/messages/CDRMessage.cpp b/src/cpp/rtps/messages/CDRMessage.cpp
index c50f0ee9e07..3cff3eff4f8 100644
--- a/src/cpp/rtps/messages/CDRMessage.cpp
+++ b/src/cpp/rtps/messages/CDRMessage.cpp
@@ -19,7 +19,7 @@
  *
  */
 
-#include "CDRMessage.hpp"
+#include <rtps/messages/CDRMessage.hpp>
 
 #include <cassert>
 #include <cstring>
@@ -33,7 +33,7 @@ namespace eprosima {
 namespace fastrtps {
 namespace rtps {
 
-inline bool CDRMessage::initCDRMsg(
+bool CDRMessage::initCDRMsg(
         CDRMessage_t* msg,
         uint32_t payload_size)
 {
@@ -48,7 +48,7 @@ inline bool CDRMessage::initCDRMsg(
     return true;
 }
 
-inline bool CDRMessage::wrapVector(
+bool CDRMessage::wrapVector(
         CDRMessage_t* msg,
         std::vector<octet>& vectorToWrap)
 {
@@ -65,14 +65,14 @@ inline bool CDRMessage::wrapVector(
     return true;
 }
 
-inline bool CDRMessage::appendMsg(
+bool CDRMessage::appendMsg(
         CDRMessage_t* first,
         CDRMessage_t* second)
 {
     return(CDRMessage::addData(first, second->buffer, second->length));
 }
 
-inline bool CDRMessage::readEntityId(
+bool CDRMessage::readEntityId(
         CDRMessage_t* msg,
         EntityId_t* id)
 {
@@ -85,7 +85,7 @@ inline bool CDRMessage::readEntityId(
     return true;
 }
 
-inline bool CDRMessage::readData(
+bool CDRMessage::readData(
         CDRMessage_t* msg,
         octet* o,
         uint32_t length)
@@ -110,7 +110,7 @@ inline bool CDRMessage::readData(
     return true;
 }
 
-inline bool CDRMessage::read_array_with_max_size(
+bool CDRMessage::read_array_with_max_size(
         CDRMessage_t* msg,
         octet* arr,
         size_t max_size)
@@ -130,7 +130,7 @@ inline bool CDRMessage::read_array_with_max_size(
     return valid;
 }
 
-inline bool CDRMessage::readDataReversed(
+bool CDRMessage::readDataReversed(
         CDRMessage_t* msg,
         octet* o,
         uint32_t length)
@@ -143,7 +143,7 @@ inline bool CDRMessage::readDataReversed(
     return true;
 }
 
-inline bool CDRMessage::readInt32(
+bool CDRMessage::readInt32(
         CDRMessage_t* msg,
         int32_t* lo)
 {
@@ -167,7 +167,7 @@ inline bool CDRMessage::readInt32(
     return true;
 }
 
-inline bool CDRMessage::readUInt32(
+bool CDRMessage::readUInt32(
         CDRMessage_t* msg,
         uint32_t* ulo)
 {
@@ -191,7 +191,7 @@ inline bool CDRMessage::readUInt32(
     return true;
 }
 
-inline bool CDRMessage::readInt64(
+bool CDRMessage::readInt64(
         CDRMessage_t* msg,
         int64_t* lolo)
 {
@@ -218,7 +218,7 @@ inline bool CDRMessage::readInt64(
     return true;
 }
 
-inline bool CDRMessage::readUInt64(
+bool CDRMessage::readUInt64(
         CDRMessage_t* msg,
         uint64_t* ulolo)
 {
@@ -245,7 +245,7 @@ inline bool CDRMessage::readUInt64(
     return true;
 }
 
-inline bool CDRMessage::readSequenceNumber(
+bool CDRMessage::readSequenceNumber(
         CDRMessage_t* msg,
         SequenceNumber_t* sn)
 {
@@ -258,7 +258,7 @@ inline bool CDRMessage::readSequenceNumber(
     return valid;
 }
 
-inline SequenceNumberSet_t CDRMessage::readSequenceNumberSet(
+SequenceNumberSet_t CDRMessage::readSequenceNumberSet(
         CDRMessage_t* msg)
 {
     bool valid = true;
@@ -291,7 +291,7 @@ inline SequenceNumberSet_t CDRMessage::readSequenceNumberSet(
     return SequenceNumberSet_t (c_SequenceNumber_Unknown);
 }
 
-inline bool CDRMessage::readFragmentNumberSet(
+bool CDRMessage::readFragmentNumberSet(
         CDRMessage_t* msg,
         FragmentNumberSet_t* fns)
 {
@@ -319,7 +319,7 @@ inline bool CDRMessage::readFragmentNumberSet(
     return valid;
 }
 
-inline bool CDRMessage::readTimestamp(
+bool CDRMessage::readTimestamp(
         CDRMessage_t* msg,
         rtps::Time_t* ts)
 {
@@ -331,7 +331,7 @@ inline bool CDRMessage::readTimestamp(
     return valid;
 }
 
-inline bool CDRMessage::readLocator(
+bool CDRMessage::readLocator(
         CDRMessage_t* msg,
         Locator_t* loc)
 {
@@ -347,7 +347,7 @@ inline bool CDRMessage::readLocator(
     return valid;
 }
 
-inline bool CDRMessage::readInt16(
+bool CDRMessage::readInt16(
         CDRMessage_t* msg,
         int16_t* i16)
 {
@@ -370,7 +370,7 @@ inline bool CDRMessage::readInt16(
     return true;
 }
 
-inline bool CDRMessage::readUInt16(
+bool CDRMessage::readUInt16(
         CDRMessage_t* msg,
         uint16_t* i16)
 {
@@ -393,7 +393,7 @@ inline bool CDRMessage::readUInt16(
     return true;
 }
 
-inline bool CDRMessage::readOctet(
+bool CDRMessage::readOctet(
         CDRMessage_t* msg,
         octet* o)
 {
@@ -406,7 +406,7 @@ inline bool CDRMessage::readOctet(
     return true;
 }
 
-inline bool CDRMessage::readOctetVector(
+bool CDRMessage::readOctetVector(
         CDRMessage_t* msg,
         std::vector<octet>* ocvec)
 {
@@ -422,7 +422,7 @@ inline bool CDRMessage::readOctetVector(
     return valid;
 }
 
-inline bool CDRMessage::readString(
+bool CDRMessage::readString(
         CDRMessage_t* msg,
         std::string* stri)
 {
@@ -449,7 +449,7 @@ inline bool CDRMessage::readString(
     return valid;
 }
 
-inline bool CDRMessage::readString(
+bool CDRMessage::readString(
         CDRMessage_t* msg,
         fastcdr::string_255* stri)
 {
@@ -472,14 +472,14 @@ inline bool CDRMessage::readString(
     return valid;
 }
 
-inline bool CDRMessage::hasSpace(
+bool CDRMessage::hasSpace(
         CDRMessage_t* msg,
         const uint32_t length)
 {
     return msg && (msg->pos + length <= msg->max_size);
 }
 
-inline void CDRMessage::copyToBuffer(
+void CDRMessage::copyToBuffer(
         CDRMessage_t* msg,
         const octet* data,
         const uint32_t length,
@@ -500,7 +500,7 @@ inline void CDRMessage::copyToBuffer(
     msg->length += length;
 }
 
-inline bool CDRMessage::addData(
+bool CDRMessage::addData(
         CDRMessage_t* msg,
         const octet* data,
         const uint32_t length)
@@ -513,7 +513,7 @@ inline bool CDRMessage::addData(
     return true;
 }
 
-inline bool CDRMessage::addDataReversed(
+bool CDRMessage::addDataReversed(
         CDRMessage_t* msg,
         const octet* data,
         const uint32_t length)
@@ -527,7 +527,7 @@ inline bool CDRMessage::addDataReversed(
 }
 
 template<typename T>
-inline bool CDRMessage::addPrimitive(
+bool CDRMessage::addPrimitive(
         CDRMessage_t* msg,
         T value)
 {
@@ -541,49 +541,49 @@ inline bool CDRMessage::addPrimitive(
     return true;
 }
 
-inline bool CDRMessage::addOctet(
+bool CDRMessage::addOctet(
         CDRMessage_t* msg,
         octet O)
 {
     return addPrimitive(msg, O);
 }
 
-inline bool CDRMessage::addUInt16(
+bool CDRMessage::addUInt16(
         CDRMessage_t* msg,
         uint16_t us)
 {
     return addPrimitive(msg, us);
 }
 
-inline bool CDRMessage::addInt32(
+bool CDRMessage::addInt32(
         CDRMessage_t* msg,
         int32_t lo)
 {
     return addPrimitive(msg, lo);
 }
 
-inline bool CDRMessage::addUInt32(
+bool CDRMessage::addUInt32(
         CDRMessage_t* msg,
         uint32_t ulo)
 {
     return addPrimitive(msg, ulo);
 }
 
-inline bool CDRMessage::addInt64(
+bool CDRMessage::addInt64(
         CDRMessage_t* msg,
         int64_t lolo)
 {
     return addPrimitive(msg, lolo);
 }
 
-inline bool CDRMessage::addUInt64(
+bool CDRMessage::addUInt64(
         CDRMessage_t* msg,
         uint64_t ulolo)
 {
     return addPrimitive(msg, ulolo);
 }
 
-inline bool CDRMessage::addOctetVector(
+bool CDRMessage::addOctetVector(
         CDRMessage_t* msg,
         const std::vector<octet>* ocvec,
         bool add_final_padding)
@@ -619,7 +619,7 @@ inline bool CDRMessage::addOctetVector(
     return valid;
 }
 
-inline bool CDRMessage::addEntityId(
+bool CDRMessage::addEntityId(
         CDRMessage_t* msg,
         const EntityId_t* ID)
 {
@@ -633,7 +633,7 @@ inline bool CDRMessage::addEntityId(
     return true;
 }
 
-inline bool CDRMessage::addSequenceNumber(
+bool CDRMessage::addSequenceNumber(
         CDRMessage_t* msg,
         const SequenceNumber_t* sn)
 {
@@ -643,7 +643,7 @@ inline bool CDRMessage::addSequenceNumber(
     return true;
 }
 
-inline bool CDRMessage::addSequenceNumberSet(
+bool CDRMessage::addSequenceNumberSet(
         CDRMessage_t* msg,
         const SequenceNumberSet_t* sns)
 {
@@ -672,7 +672,7 @@ inline bool CDRMessage::addSequenceNumberSet(
     return true;
 }
 
-inline bool CDRMessage::addFragmentNumberSet(
+bool CDRMessage::addFragmentNumberSet(
         CDRMessage_t* msg,
         FragmentNumberSet_t* fns)
 {
@@ -706,7 +706,7 @@ inline bool CDRMessage::addFragmentNumberSet(
     return true;
 }
 
-inline bool CDRMessage::addLocator(
+bool CDRMessage::addLocator(
         CDRMessage_t* msg,
         const Locator_t& loc)
 {
@@ -716,7 +716,7 @@ inline bool CDRMessage::addLocator(
     return true;
 }
 
-inline bool CDRMessage::add_string(
+bool CDRMessage::add_string(
         CDRMessage_t* msg,
         const char* in_str)
 {
@@ -731,21 +731,21 @@ inline bool CDRMessage::add_string(
     return valid;
 }
 
-inline bool CDRMessage::add_string(
+bool CDRMessage::add_string(
         CDRMessage_t* msg,
         const std::string& in_str)
 {
     return add_string(msg, in_str.c_str());
 }
 
-inline bool CDRMessage::add_string(
+bool CDRMessage::add_string(
         CDRMessage_t* msg,
         const fastcdr::string_255& in_str)
 {
     return add_string(msg, in_str.c_str());
 }
 
-inline bool CDRMessage::addProperty(
+bool CDRMessage::addProperty(
         CDRMessage_t* msg,
         const Property& property)
 {
@@ -766,7 +766,7 @@ inline bool CDRMessage::addProperty(
     return true;
 }
 
-inline bool CDRMessage::readProperty(
+bool CDRMessage::readProperty(
         CDRMessage_t* msg,
         Property& property)
 {
@@ -784,7 +784,7 @@ inline bool CDRMessage::readProperty(
     return true;
 }
 
-inline bool CDRMessage::addBinaryProperty(
+bool CDRMessage::addBinaryProperty(
         CDRMessage_t* msg,
         const BinaryProperty& binary_property,
         bool add_final_padding)
@@ -806,7 +806,7 @@ inline bool CDRMessage::addBinaryProperty(
     return true;
 }
 
-inline bool CDRMessage::readBinaryProperty(
+bool CDRMessage::readBinaryProperty(
         CDRMessage_t* msg,
         BinaryProperty& binary_property)
 {
@@ -825,7 +825,7 @@ inline bool CDRMessage::readBinaryProperty(
     return true;
 }
 
-inline bool CDRMessage::addPropertySeq(
+bool CDRMessage::addPropertySeq(
         CDRMessage_t* msg,
         const PropertySeq& properties)
 {
@@ -860,7 +860,7 @@ inline bool CDRMessage::addPropertySeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::readPropertySeq(
+bool CDRMessage::readPropertySeq(
         CDRMessage_t* msg,
         PropertySeq& properties,
         const uint32_t parameter_length)
@@ -891,7 +891,7 @@ inline bool CDRMessage::readPropertySeq(
 
 }
 
-inline bool CDRMessage::addBinaryPropertySeq(
+bool CDRMessage::addBinaryPropertySeq(
         CDRMessage_t* msg,
         const BinaryPropertySeq& binary_properties,
         bool add_final_padding)
@@ -930,7 +930,7 @@ inline bool CDRMessage::addBinaryPropertySeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::addBinaryPropertySeq(
+bool CDRMessage::addBinaryPropertySeq(
         CDRMessage_t* msg,
         const BinaryPropertySeq& binary_properties,
         const std::string& name_start,
@@ -970,7 +970,7 @@ inline bool CDRMessage::addBinaryPropertySeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::readBinaryPropertySeq(
+bool CDRMessage::readBinaryPropertySeq(
         CDRMessage_t* msg,
         BinaryPropertySeq& binary_properties,
         const uint32_t parameter_length)
@@ -1001,7 +1001,7 @@ inline bool CDRMessage::readBinaryPropertySeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::addDataHolder(
+bool CDRMessage::addDataHolder(
         CDRMessage_t* msg,
         const DataHolder& data_holder)
 {
@@ -1023,7 +1023,7 @@ inline bool CDRMessage::addDataHolder(
     return true;
 }
 
-inline bool CDRMessage::readDataHolder(
+bool CDRMessage::readDataHolder(
         CDRMessage_t* msg,
         DataHolder& data_holder,
         const uint32_t parameter_length)
@@ -1047,7 +1047,7 @@ inline bool CDRMessage::readDataHolder(
 
 }
 
-inline bool CDRMessage::addDataHolderSeq(
+bool CDRMessage::addDataHolderSeq(
         CDRMessage_t* msg,
         const DataHolderSeq& data_holders)
 {
@@ -1071,7 +1071,7 @@ inline bool CDRMessage::addDataHolderSeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::readDataHolderSeq(
+bool CDRMessage::readDataHolderSeq(
         CDRMessage_t* msg,
         DataHolderSeq& data_holders)
 {
@@ -1103,7 +1103,7 @@ inline bool CDRMessage::readDataHolderSeq(
     return returnedValue;
 }
 
-inline bool CDRMessage::addMessageIdentity(
+bool CDRMessage::addMessageIdentity(
         CDRMessage_t* msg,
         const security::MessageIdentity& message_identity)
 {
@@ -1125,7 +1125,7 @@ inline bool CDRMessage::addMessageIdentity(
     return true;
 }
 
-inline bool CDRMessage::readMessageIdentity(
+bool CDRMessage::readMessageIdentity(
         CDRMessage_t* msg,
         security::MessageIdentity& message_identity)
 {
@@ -1147,7 +1147,7 @@ inline bool CDRMessage::readMessageIdentity(
     return true;
 }
 
-inline bool CDRMessage::addParticipantGenericMessage(
+bool CDRMessage::addParticipantGenericMessage(
         CDRMessage_t* msg,
         const security::ParticipantGenericMessage& message)
 {
@@ -1197,7 +1197,7 @@ inline bool CDRMessage::addParticipantGenericMessage(
     return true;
 }
 
-inline bool CDRMessage::readParticipantGenericMessage(
+bool CDRMessage::readParticipantGenericMessage(
         CDRMessage_t* msg,
         security::ParticipantGenericMessage& message)
 {
@@ -1247,7 +1247,7 @@ inline bool CDRMessage::readParticipantGenericMessage(
     return true;
 }
 
-inline bool CDRMessage::skip(
+bool CDRMessage::skip(
         CDRMessage_t* msg,
         uint32_t length)
 {
diff --git a/src/cpp/rtps/messages/CDRMessage.hpp b/src/cpp/rtps/messages/CDRMessage.hpp
index 8ab1c776aae..656e6078c45 100644
--- a/src/cpp/rtps/messages/CDRMessage.hpp
+++ b/src/cpp/rtps/messages/CDRMessage.hpp
@@ -350,8 +350,6 @@ bool skip(
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
-#include "CDRMessage.cpp"
-
 #endif /* DOXYGEN_SHOULD_SKIP_THIS */
 #endif // ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 #endif /* _FASTDDS_RTPS_CDRMESSAGE_H_ */
diff --git a/src/cpp/rtps/messages/RTPSMessageCreator.cpp b/src/cpp/rtps/messages/RTPSMessageCreator.cpp
index c5dde1b0a85..5751d21303a 100644
--- a/src/cpp/rtps/messages/RTPSMessageCreator.cpp
+++ b/src/cpp/rtps/messages/RTPSMessageCreator.cpp
@@ -17,11 +17,11 @@
  *
  */
 
+#include <rtps/messages/RTPSMessageCreator.hpp>
+
 #include <fastdds/core/policy/ParameterList.hpp>
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/common/VendorId_t.hpp>
-#include <rtps/messages/CDRMessage.hpp>
-#include <rtps/messages/RTPSMessageCreator.hpp>
 
 using namespace eprosima::fastrtps;
 using ParameterList = eprosima::fastdds::dds::ParameterList;
diff --git a/src/cpp/rtps/messages/RTPSMessageCreator.hpp b/src/cpp/rtps/messages/RTPSMessageCreator.hpp
index 536faea8b1d..0adacdc2bd6 100644
--- a/src/cpp/rtps/messages/RTPSMessageCreator.hpp
+++ b/src/cpp/rtps/messages/RTPSMessageCreator.hpp
@@ -20,12 +20,13 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 #include <fastdds/rtps/common/CacheChange.h>
-#include <fastdds/rtps/common/CDRMessage_t.h>
 #include <fastdds/rtps/common/FragmentNumber.h>
 #include <fastdds/rtps/common/Guid.h>
 #include <fastdds/rtps/common/SequenceNumber.h>
 #include <fastdds/rtps/common/VendorId_t.hpp>
 
+#include <rtps/messages/CDRMessage.hpp>
+
 namespace eprosima {
 namespace fastrtps {
 namespace rtps {
diff --git a/src/cpp/rtps/messages/RTPSMessageGroup.hpp b/src/cpp/rtps/messages/RTPSMessageGroup.hpp
index 2194fc44679..fce14d51319 100644
--- a/src/cpp/rtps/messages/RTPSMessageGroup.hpp
+++ b/src/cpp/rtps/messages/RTPSMessageGroup.hpp
@@ -21,16 +21,15 @@
 #define _FASTDDS_RTPS_RTPSMESSAGEGROUP_H_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/common/FragmentNumber.h>
-#include <fastdds/rtps/messages/RTPSMessageSenderInterface.hpp>
-
-#include <rtps/messages/RTPSMessageCreator.hpp>
-
 #include <vector>
 #include <chrono>
 #include <cassert>
 #include <memory>
 
+#include <fastdds/rtps/common/FragmentNumber.h>
+#include <fastdds/rtps/messages/RTPSMessageSenderInterface.hpp>
+
+#include <rtps/messages/RTPSMessageCreator.hpp>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/security/authentication/PKIDH.cpp b/src/cpp/security/authentication/PKIDH.cpp
index 2833edfbddc..856caef55f7 100644
--- a/src/cpp/security/authentication/PKIDH.cpp
+++ b/src/cpp/security/authentication/PKIDH.cpp
@@ -23,13 +23,14 @@
 #include <security/authentication/PKIDH.h>
 
 #include <fastdds/core/policy/ParameterList.hpp>
-#include <fastdds/rtps/security/logging/Logging.h>
 #include <fastdds/dds/log/Log.hpp>
 #include <fastdds/rtps/builtin/data/ParticipantProxyData.h>
+#include <fastdds/rtps/security/logging/Logging.h>
 
+#include <openssl/opensslv.h>
 #include <rtps/messages/CDRMessage.hpp>
 #include <security/authentication/PKIIdentityHandle.h>
-#include <openssl/opensslv.h>
+
 
 #if OPENSSL_VERSION_NUMBER >= 0x10100000L
 #define IS_OPENSSL_1_1 1
diff --git a/test/blackbox/CMakeLists.txt b/test/blackbox/CMakeLists.txt
index 63b9c6dc4e0..725b8883b26 100644
--- a/test/blackbox/CMakeLists.txt
+++ b/test/blackbox/CMakeLists.txt
@@ -136,6 +136,7 @@ file(GLOB DDS_BLACKBOXTESTS_TEST_SOURCE "common/DDSBlackboxTests*.cpp")
 set(DDS_BLACKBOXTESTS_SOURCE
     ${DDS_BLACKBOXTESTS_TEST_SOURCE}
     ${BLACKBOXTESTS_SOURCE}
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     )
 
 # Prepare static discovery xml file for blackbox tests.
diff --git a/test/unittest/dds/publisher/CMakeLists.txt b/test/unittest/dds/publisher/CMakeLists.txt
index cd3f207bfb5..4789243678b 100644
--- a/test/unittest/dds/publisher/CMakeLists.txt
+++ b/test/unittest/dds/publisher/CMakeLists.txt
@@ -121,6 +121,7 @@ set(DATAWRITERTESTS_SOURCE DataWriterTests.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/WriterHistory.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/MessageReceiver.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSGapBuilder.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
diff --git a/test/unittest/dds/status/CMakeLists.txt b/test/unittest/dds/status/CMakeLists.txt
index 711073a5c04..aea9b9c2190 100644
--- a/test/unittest/dds/status/CMakeLists.txt
+++ b/test/unittest/dds/status/CMakeLists.txt
@@ -64,6 +64,7 @@ set(LISTENERTESTS_SOURCE ListenerTests.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/CacheChangePool.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/network/NetmaskFilterKind.cpp
diff --git a/test/unittest/rtps/builtin/CMakeLists.txt b/test/unittest/rtps/builtin/CMakeLists.txt
index 79d207a3766..13166ff97c1 100644
--- a/test/unittest/rtps/builtin/CMakeLists.txt
+++ b/test/unittest/rtps/builtin/CMakeLists.txt
@@ -27,6 +27,7 @@ set(BUILTIN_DATA_SERIALIZATION_TESTS_SOURCE BuiltinDataSerializationTests.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/FlowControllerConsts.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/resources/ResourceEvent.cpp
diff --git a/test/unittest/rtps/discovery/CMakeLists.txt b/test/unittest/rtps/discovery/CMakeLists.txt
index b001a7663a6..44d70de11fe 100644
--- a/test/unittest/rtps/discovery/CMakeLists.txt
+++ b/test/unittest/rtps/discovery/CMakeLists.txt
@@ -92,6 +92,7 @@ set(TCPTransportInterface_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/TransportInterface.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/ChannelResource.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/PortBasedTransportDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/tcp/RTCPMessageManager.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp
diff --git a/test/unittest/rtps/network/CMakeLists.txt b/test/unittest/rtps/network/CMakeLists.txt
index 8095ff14daf..e083a3eb2fe 100644
--- a/test/unittest/rtps/network/CMakeLists.txt
+++ b/test/unittest/rtps/network/CMakeLists.txt
@@ -22,6 +22,7 @@ set(NETWORKFACTORYTESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
diff --git a/test/unittest/rtps/security/CMakeLists.txt b/test/unittest/rtps/security/CMakeLists.txt
index c927133ca28..6eda1583053 100644
--- a/test/unittest/rtps/security/CMakeLists.txt
+++ b/test/unittest/rtps/security/CMakeLists.txt
@@ -28,6 +28,7 @@ set(SOURCES_SECURITY_TEST_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/resources/ResourceEvent.cpp
diff --git a/test/unittest/security/accesscontrol/CMakeLists.txt b/test/unittest/security/accesscontrol/CMakeLists.txt
index fe0a56d91d6..4ae0b8124bd 100644
--- a/test/unittest/security/accesscontrol/CMakeLists.txt
+++ b/test/unittest/security/accesscontrol/CMakeLists.txt
@@ -28,6 +28,7 @@ set(COMMON_SOURCES_ACCESS_CONTROL_TEST_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Token.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/exceptions/Exception.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/resources/ResourceEvent.cpp
diff --git a/test/unittest/security/authentication/CMakeLists.txt b/test/unittest/security/authentication/CMakeLists.txt
index e896ba3d77b..9cb785a4dec 100644
--- a/test/unittest/security/authentication/CMakeLists.txt
+++ b/test/unittest/security/authentication/CMakeLists.txt
@@ -30,6 +30,7 @@ set(COMMON_SOURCES_AUTH_PLUGIN_TEST_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Token.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/exceptions/Exception.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/resources/ResourceEvent.cpp
diff --git a/test/unittest/statistics/dds/CMakeLists.txt b/test/unittest/statistics/dds/CMakeLists.txt
index 8971227878f..aaf126af4b2 100644
--- a/test/unittest/statistics/dds/CMakeLists.txt
+++ b/test/unittest/statistics/dds/CMakeLists.txt
@@ -222,6 +222,7 @@ if (SQLITE3_SUPPORT AND FASTDDS_STATISTICS AND NOT QNX)
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/WriterHistory.cpp
+        ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/MessageReceiver.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSGapBuilder.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
@@ -395,6 +396,7 @@ if (SQLITE3_SUPPORT AND FASTDDS_STATISTICS AND NOT QNX)
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/WriterHistory.cpp
+        ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/MessageReceiver.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSGapBuilder.cpp
         ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
diff --git a/test/unittest/statistics/rtps/CMakeLists.txt b/test/unittest/statistics/rtps/CMakeLists.txt
index ea906b30359..243c8baa0bc 100644
--- a/test/unittest/statistics/rtps/CMakeLists.txt
+++ b/test/unittest/statistics/rtps/CMakeLists.txt
@@ -18,6 +18,7 @@ endif()
 
 set(STATISTICS_RTPS_TESTS_SOURCE
     RTPSStatisticsTests.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     )
 
 add_executable(RTPSStatisticsTests ${STATISTICS_RTPS_TESTS_SOURCE})
@@ -77,6 +78,7 @@ set(STATISTICS_RTPS_MONITORSERVICETESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPool.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/history/TopicPayloadPoolRegistry.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
diff --git a/test/unittest/transport/CMakeLists.txt b/test/unittest/transport/CMakeLists.txt
index fdbe4c131cb..186915cc75c 100644
--- a/test/unittest/transport/CMakeLists.txt
+++ b/test/unittest/transport/CMakeLists.txt
@@ -47,6 +47,7 @@ if(TLS_FOUND)
 endif()
 
 set(TCPTransportInterface_SOURCE
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/tcp/RTCPMessageManager.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/transport/tcp/TCPControlMessage.cpp
@@ -73,6 +74,7 @@ set(UDPV4TESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
@@ -101,6 +103,7 @@ set(UDPV6TESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/network.cpp
@@ -132,6 +135,7 @@ set(TCPV4TESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp
@@ -178,6 +182,7 @@ set(TCPV6TESTS_SOURCE
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/LocatorWithMask.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/common/Time_t.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/flowcontrol/ThroughputControllerDescriptor.cpp
+    ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/CDRMessage.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/messages/RTPSMessageCreator.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/NetworkFactory.cpp
     ${PROJECT_SOURCE_DIR}/src/cpp/rtps/network/utils/netmask_filter.cpp