diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemGlobal.hpp b/src/cpp/rtps/transport/shared_mem/SharedMemGlobal.hpp
index 517bcb53670..57136525c81 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemGlobal.hpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemGlobal.hpp
@@ -163,10 +163,10 @@ class SharedMemGlobal
                 MultiProducerConsumerRingBuffer<BufferDescriptor>* buffer;
             };
 
-            static WatchTask& get()
+            static const std::shared_ptr<WatchTask>& get()
             {
-                static WatchTask watch_task;
-                return watch_task;
+                static std::shared_ptr<WatchTask> watch_task_instance(new WatchTask());
+                return watch_task_instance;
             }
 
             /**
@@ -202,19 +202,23 @@ class SharedMemGlobal
 
             }
 
+            virtual ~WatchTask()
+            {
+                shared_mem_watchdog_->remove_task(this);
+            }
+
         private:
 
             std::vector<std::shared_ptr<PortContext> > watched_ports_;
             std::mutex watched_ports_mutex_;
 
-            WatchTask()
-            {
-                SharedMemWatchdog::get().add_task(this);
-            }
+            // Keep a reference to the SharedMemWatchdog so that it is not destroyed until this instance is destroyed
+            std::shared_ptr<SharedMemWatchdog> shared_mem_watchdog_;
 
-            ~WatchTask()
+            WatchTask()
+                : shared_mem_watchdog_(SharedMemWatchdog::get())
             {
-                SharedMemWatchdog::get().remove_task(this);
+                shared_mem_watchdog_->add_task(this);
             }
 
             bool update_status_all_listeners(
@@ -339,6 +343,9 @@ class SharedMemGlobal
             return (listeners_found == node_->num_listeners);
         }
 
+        // Keep a reference to the WatchTask so that it is not destroyed until the last Port instance is destroyed
+        std::shared_ptr<WatchTask> watch_task_;
+
     public:
 
         /**
@@ -378,6 +385,7 @@ class SharedMemGlobal
             , node_(node)
             , overflows_count_(0)
             , read_exclusive_lock_(std::move(read_exclusive_lock))
+            , watch_task_(WatchTask::get())
         {
             auto buffer_base = static_cast<MultiProducerConsumerRingBuffer<BufferDescriptor>::Cell*>(
                 port_segment_->get_address_from_offset(node_->buffer));
@@ -392,12 +400,12 @@ class SharedMemGlobal
 
             auto port_context = std::make_shared<Port::WatchTask::PortContext>();
             *port_context = {port_segment_, node_, buffer_.get()};
-            Port::WatchTask::get().add_port(std::move(port_context));
+            Port::WatchTask::get()->add_port(std::move(port_context));
         }
 
         ~Port()
         {
-            Port::WatchTask::get().remove_port(node_);
+            Port::WatchTask::get()->remove_port(node_);
 
             if (node_->ref_counter.fetch_sub(1) == 1)
             {
diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp b/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
index ca274c6c188..4a3f651f533 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
@@ -229,6 +229,7 @@ class SharedMemManager :
             const std::string& domain_name)
         : segments_mem_(0)
         , global_segment_(domain_name)
+        , watch_task_(SegmentWrapper::WatchTask::get())
     {
         static_assert(std::alignment_of<BufferNode>::value % 8 == 0, "SharedMemManager::BufferNode bad alignment");
 
@@ -999,10 +1000,10 @@ class SharedMemManager :
         {
         public:
 
-            static WatchTask& get()
+            static std::shared_ptr<WatchTask>& get()
             {
-                static WatchTask watch_task;
-                return watch_task;
+                static std::shared_ptr<WatchTask> watch_task_instance(new WatchTask());
+                return watch_task_instance;
             }
 
             void add_segment(
@@ -1023,6 +1024,11 @@ class SharedMemManager :
                 to_remove_.push_back(segment);
             }
 
+            virtual ~WatchTask()
+            {
+                shared_mem_watchdog_->remove_task(this);
+            }
+
         private:
 
             std::unordered_map<std::shared_ptr<SegmentWrapper>, uint32_t> watched_segments_;
@@ -1032,15 +1038,14 @@ class SharedMemManager :
             std::vector<std::shared_ptr<SegmentWrapper> > to_add_;
             std::vector<std::shared_ptr<SegmentWrapper> > to_remove_;
 
+            // Keep a reference to the SharedMemWatchdog so that it is not destroyed until this instance is destroyed
+            std::shared_ptr<SharedMemWatchdog> shared_mem_watchdog_;
+
             WatchTask()
                 : watched_it_(watched_segments_.end())
+                , shared_mem_watchdog_(SharedMemWatchdog::get())
             {
-                SharedMemWatchdog::get().add_task(this);
-            }
-
-            ~WatchTask()
-            {
-                SharedMemWatchdog::get().remove_task(this);
+                shared_mem_watchdog_->add_task(this);
             }
 
             void update_watched_segments()
@@ -1191,6 +1196,9 @@ class SharedMemManager :
 
     SharedMemGlobal global_segment_;
 
+    // Keep a reference to the WatchTask so that it is not destroyed until all Manger instances are destroyed
+    std::shared_ptr<SegmentWrapper::WatchTask> watch_task_;
+
     std::shared_ptr<SharedMemSegment> find_segment(
             SharedMemSegment::Id id)
     {
@@ -1212,7 +1220,7 @@ class SharedMemManager :
             ids_segments_[id.get()] = segment_wrapper;
             segments_mem_ += segment->mem_size();
 
-            SegmentWrapper::WatchTask::get().add_segment(segment_wrapper);
+            SegmentWrapper::WatchTask::get()->add_segment(segment_wrapper);
         }
 
         return segment;
@@ -1243,7 +1251,7 @@ class SharedMemManager :
 
         for (auto segment : ids_segments_)
         {
-            SegmentWrapper::WatchTask::get().remove_segment(segment.second);
+            SegmentWrapper::WatchTask::get()->remove_segment(segment.second);
         }
     }
 
diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemWatchdog.hpp b/src/cpp/rtps/transport/shared_mem/SharedMemWatchdog.hpp
index d74e95191bc..c0e395bc812 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemWatchdog.hpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemWatchdog.hpp
@@ -40,10 +40,10 @@ class SharedMemWatchdog
         virtual void run() = 0;
     };
 
-    static SharedMemWatchdog& get()
+    static std::shared_ptr<SharedMemWatchdog>& get()
     {
-        static SharedMemWatchdog watch_dog;
-        return watch_dog;
+        static std::shared_ptr<SharedMemWatchdog> watch_dog_instance(new SharedMemWatchdog());
+        return watch_dog_instance;
     }
 
     /**
@@ -79,6 +79,13 @@ class SharedMemWatchdog
         return std::chrono::milliseconds(1000);
     }
 
+    ~SharedMemWatchdog()
+    {
+        exit_thread_ = true;
+        wake_up();
+        thread_run_.join();
+    }
+
 private:
 
     std::unordered_set<Task*> tasks_;
@@ -98,13 +105,6 @@ class SharedMemWatchdog
         thread_run_ = std::thread(&SharedMemWatchdog::run, this);
     }
 
-    ~SharedMemWatchdog()
-    {
-        exit_thread_ = true;
-        wake_up();
-        thread_run_.join();
-    }
-
     /**
      * Forces Wake-up of the checking thread
      */