eProsima · rsanchez15 · Jul 17, 2025 · Jul 16, 2025 · Jul 17, 2025
diff --git a/docs/resources/examples/change_domain_allowlist.yaml b/docs/resources/examples/change_domain_allowlist.yaml
@@ -1,6 +1,6 @@
 ########################################
 # CHANGE DOMAIN WITH ALLOWLIST EXAMPLE #
-########################################                                                          # 0
+########################################
 
 ##################################
 # ALLOWED TOPICS
@@ -37,8 +37,6 @@ participants:
 # This configuration example configures a DDS Router to listen to every message published in two different domains
 # and transmit those messages through the other domain.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route to them.

diff --git a/docs/resources/examples/echo.yaml b/docs/resources/examples/echo.yaml
@@ -40,8 +40,6 @@ participants:
 # HelloWorldTopic (from Fast DDS HelloWorld) and rt/chatter from ROS2 demo_nodes, and to print the received
 # messages in stdout. Information regarding discovery events is also printed to stdout.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/forwarding_routes.yaml b/docs/resources/examples/forwarding_routes.yaml
@@ -1,6 +1,6 @@
 ######################
 # FORWARDING ROUTES  #
-######################                                                 # 0
+######################
 
 ##############
 # PARTICIPANTS
@@ -72,8 +72,6 @@ topic-routes:                                                     # 11
 # to DDS Domain 1.
 # The communication is in both directions.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: List the internal participants of the router.
 
 # 2: New Participant with name <SimpleParticipant_0>.

diff --git a/docs/resources/examples/repeater_client.yaml b/docs/resources/examples/repeater_client.yaml
@@ -2,10 +2,6 @@
 # REPEATER CLIENT EXAMPLE #
 ###########################
 
-##################################
-# CONFIGURATION VERSION
-version: v5.0                                                     # 0
-
 ##################################
 # ALLOWED TOPICS
 # Allowing ROS2 HelloWorld demo_nodes
@@ -46,8 +42,6 @@ participants:
 # The other direction of communication is also possible; receive messages at the WAN Participant and locally
 # publish them in domain 0.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
 # Insert new topics in order to route them.
 

diff --git a/docs/resources/examples/repeater_server.yaml b/docs/resources/examples/repeater_server.yaml
@@ -2,17 +2,14 @@
 # REPEATER SERVER EXAMPLE #
 ###########################
 
-##################################
-# CONFIGURATION VERSION
-version: v5.0                                                     # 0
-
 ##################################
 # ALLOWED TOPICS
 # Allowing FastDDS and ROS2 HelloWorld demo examples topics
 
 allowlist:
-  - name: HelloWorldTopic                                         # 1                                             
+  - name: HelloWorldTopic                                         # 1
   - name: rt/chatter                                              # 2
+
 ##################################
 # PARTICIPANTS
 participants:
@@ -40,8 +37,6 @@ participants:
 # Server specifies which DDS Router starts the communication with the other, and after communication has been
 # established, both routers behave in the same way.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/ros_discovery_client.yaml b/docs/resources/examples/ros_discovery_client.yaml
@@ -1,6 +1,6 @@
 #######################################
 # ROS DISCOVERY SERVER CLIENT EXAMPLE #
-#######################################                                               # 0
+#######################################
 
 ##################################
 # ALLOWED TOPICS
@@ -42,8 +42,6 @@ participants:
 # The other direction of communication is also possible; receive messages at the Discovery Server and locally
 # publish them in domain 0.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
 # Insert new topics in order to route them.
 

diff --git a/docs/resources/examples/ros_discovery_server.yaml b/docs/resources/examples/ros_discovery_server.yaml
@@ -42,8 +42,6 @@ participants:
 # The other direction of communication is also possible; receive messages at the Discovery Server and locally
 # publish them in domain 0.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS ROS 2 specific Topic Name <rt/chatter> with type <std_msgs::msg::dds_::String_>.
 # Insert new topics in order to route them.
 

diff --git a/docs/resources/examples/wan_client.yaml b/docs/resources/examples/wan_client.yaml
@@ -1,6 +1,6 @@
 ######################
 # WAN CLIENT EXAMPLE #
-######################                                                   # 0
+######################
 
 ##################################
 # ALLOWED TOPICS
@@ -47,8 +47,6 @@ participants:
 # Client specifies which DDS Router starts the communication with the other, and after communication has been
 # established, both routers behave in the same way.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/wan_ds_client.yaml b/docs/resources/examples/wan_ds_client.yaml
@@ -1,6 +1,6 @@
 #######################################
 # WAN DISCOVERY SERVER CLIENT EXAMPLE #
-#######################################                                                   # 0
+#######################################
 
 ##################################
 # ALLOWED TOPICS
@@ -47,8 +47,6 @@ participants:
 # Client specifies which DDS Router starts the communication with the other, and after communication has been
 # established, both routers behave in the same way.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/wan_ds_server.yaml b/docs/resources/examples/wan_ds_server.yaml
@@ -1,6 +1,6 @@
 #######################################
 # WAN DISCOVERY SERVER SERVER EXAMPLE #
-#######################################                                                  # 0
+#######################################
 
 ##################################
 # ALLOWED TOPICS
@@ -44,8 +44,6 @@ participants:
 # Server specifies which DDS Router starts the communication with the other, and after communication has been
 # established, both routers behave in the same way.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/wan_server.yaml b/docs/resources/examples/wan_server.yaml
@@ -1,6 +1,6 @@
 ######################
 # WAN SERVER EXAMPLE #
-######################                                                 # 0
+######################
 
 ##################################
 # ALLOWED TOPICS
@@ -44,8 +44,6 @@ participants:
 # Server specifies which DDS Router starts the communication with the other, and after communication has been
 # established, both routers behave in the same way.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route them.

diff --git a/docs/resources/examples/xml.yaml b/docs/resources/examples/xml.yaml
@@ -1,9 +1,9 @@
 ######################
 # XML EXAMPLE        #
-######################                                                   # 0
+######################
 
 ##################################
-# CONFIGURATION VERSION
+# XML CONFIGURATION
 xml:                                                              # 1
   files:
     - "./xml_configuration.xml"                                   # 2
@@ -44,8 +44,6 @@ participants:
 # to DDS Domain 1.
 # The communication is in both directions.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Configure how to load XML configurations.
 
 # 2: Load profiles from every xml file in list.

diff --git a/docs/rst/appendixes/glossary.rst b/docs/rst/appendixes/glossary.rst
@@ -34,12 +34,6 @@ Glossary
     TCP
         **Transmission Control Protocol**
 
-    TURN
-        **Traversal Using Relays around NAT**
-        A TURN server is a network element that supports a common point of redirection of messages.
-        It redirect messages between N nodes connected to it.
-        This is a very common technique in order to traverse a NAT or an unreachable network.
-
     UDP
         **User Datagram Protocol**
 

diff --git a/docs/rst/examples/repeater_example.rst b/docs/rst/examples/repeater_example.rst
@@ -6,22 +6,13 @@
 Repeater Example
 ################
 
-A |ddsrouter| could work as a :term:`TURN` **Repeater** to forward messages by the same Participant.
+A |ddsrouter| could work as a **Repeater** to forward messages by the same Participant.
 If you are interested in understanding the use case of a Repeater please refer to the following
 section :ref:`use_case_repeater`.
 
 Configuration
 =============
 
-Version
--------
-
-The version attribute is required, as the :code:`repeater` tag is only supported from v4.0 configuration version.
-
-.. literalinclude:: ../../resources/examples/repeater_server.yaml
-    :language: yaml
-    :lines: 7-7
-
 Allowed Topics
 --------------
 
@@ -32,19 +23,20 @@ one domain to the other, allowing different DDS domains to interact with each ot
 
 .. literalinclude:: ../../resources/examples/repeater_server.yaml
     :language: yaml
-    :lines: 13-17
+    :lines: 9-11
 
 
 Repeater Participant
 --------------------
 
 The **Repeater Participant** is the one that will be used to forward messages by the same Participant.
-It must be a :code:`WAN` Participant and be configured as so with
-:ref:`WAN configuration <user_manual_wan_configuration>`.
+It must be a :ref:`WAN <user_manual_participants_wan>` Participant,
+configured with :ref:`WAN configuration <user_manual_wan_configuration>`,
+or an :ref:`XML <user_manual_participants_xml>` Participant.
 
 .. literalinclude:: ../../resources/examples/repeater_server.yaml
     :language: yaml
-    :lines: 27-33
+    :lines: 21-27
 
 
 Client Participants
@@ -56,7 +48,7 @@ or similar configuration to communicate across it.
 
 .. literalinclude:: ../../resources/examples/repeater_client.yaml
     :language: yaml
-    :lines: 33-38
+    :lines: 29-34
 
 
 Execute example

diff --git a/docs/rst/getting_started/usage_example.rst b/docs/rst/getting_started/usage_example.rst
@@ -55,7 +55,7 @@ Let us first add only the ``Square`` topic:
 
 .. literalinclude:: ../../resources/getting_started/client-ddsrouter.yaml
     :language: yaml
-    :lines: 5-6
+    :lines: 3-4
 
 Apart from selecting on which topics we wish to send/receive data, we must configure as well the participants that will
 ultimately perform communication. Each router instance will contain a :ref:`simple <user_manual_participants_simple>`
@@ -69,7 +69,7 @@ The only configuration required for simple participants is the DDS ``domain`` id
 
 .. literalinclude:: ../../resources/getting_started/client-ddsrouter.yaml
     :language: yaml
-    :lines: 10-12
+    :lines: 8-10
 
 If launching the two routers in the same LAN, set a different ``domain`` id in one of the two configuration files (same
 as the one previously set for ShapesDemo).

diff --git a/docs/rst/notes/forthcoming_version.rst b/docs/rst/notes/forthcoming_version.rst
@@ -5,3 +5,8 @@
 ###################
 Forthcoming Version
 ###################
+
+Next release will include the following **features**:
+
+* Support :ref:`repeater <use_case_repeater>` feature in :ref:`XML <user_manual_participants_xml>` participants.
+* Support writer-side `SQL-like <https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/topic/contentFilteredTopic/defaultFilter.html#the-default-sql-like-filter>`_ content filtering in :ref:`XML <user_manual_participants_xml>` participants.
diff --git a/docs/rst/notes/previous_versions/v1.0.0.rst b/docs/rst/notes/previous_versions/v1.0.0.rst
@@ -10,7 +10,7 @@ This release includes the following **major features**:
 
 This release includes the following **features**:
 
-* New :ref:`Repeater behaviour <use_case_repeater>`, a new configuration to create :term:`TURN` servers.
+* New :ref:`Repeater behaviour <use_case_repeater>`, a new configuration to create Repeater servers.
 * Add RPC support (compatibility with *ROS 2* services).
 * Timeout argument ``--timeout`` to close the application after the time set has passed.
   Check section :ref:`user_manual_user_interface_timeout_argument` for more information.

diff --git a/docs/rst/use_cases/repeater.rst b/docs/rst/use_cases/repeater.rst
@@ -6,13 +6,13 @@
 Repeater DDS Router
 ###################
 
-A |ddsrouter| could work as a :term:`TURN` **Repeater**.
+A |ddsrouter| could work as a **Repeater** Server.
 This means that a |ddsrouter| can be used to repeat messages between networks.
 
 Use case
 ========
 
-The use of a :term:`TURN` Server is very useful in the following scenarios:
+The use of a Repeater Server is very useful in the following scenarios:
 
 - **NAT Traversal**: If the edge devices are under different NATs, they cannot access each other if no
   ports are opened in their respective internet access points.
@@ -29,10 +29,10 @@ and make the communication possible.
 How to configure
 ================
 
-This |ddsrouter| configuration is very simple, as all it needs is a :ref:`user_manual_participants_wan` and
-adding to its configuration the tag `repeater: true`.
+This |ddsrouter| configuration is very simple, as all it needs is a :ref:`WAN <user_manual_participants_wan>` or
+:ref:`XML <user_manual_participants_xml>` Participant with the extra configuration tag `repeater: true`.
 There could be more Participants in this |ddsrouter| and topic filtering is also available.
-The Repeater Participant only works as other normal Participant,
-with the particularity that resend forward the data that receives.
+The Repeater Participant works as any other Participant,
+with the particularity that it is able to resend the data it receives.
 
 In order to see an example of this configuration, access to the following example :ref:`example_repeater`.
diff --git a/docs/rst/user_manual/configuration.rst b/docs/rst/user_manual/configuration.rst
@@ -683,7 +683,7 @@ See `Interface Whitelist <https://fast-dds.docs.eprosima.com/en/latest/fastdds/t
 Repeater Participant
 --------------------
 
-The optional tag ``repeater`` configures a :ref:`WAN Participant <user_manual_participants_wan>` as a *Repeater* point.
+The optional tag ``repeater`` configures a :ref:`WAN <user_manual_participants_wan>` or :ref:`XML <user_manual_participants_xml>` Participant as a *Repeater* point.
 This means that this Participant will forward all the information received from its Readers to its Writers.
 
 Check the :ref:`use_case_repeater` use case to see how the ``repeater`` Participant attribute is used.

diff --git a/docs/rst/user_manual/participants/wan.rst b/docs/rst/user_manual/participants/wan.rst
@@ -52,7 +52,7 @@ be located by other remote Participants):
 Repeater
 --------
 
-This Participant allows a tag ``repeater`` to be used as a :term:`TURN` server.
+This Participant allows a tag ``repeater`` to be used as a Repeater server.
 Please refer to section :ref:`use_case_repeater` for more information.
 
 WAN Configuration

diff --git a/docs/rst/user_manual/participants/xml.rst b/docs/rst/user_manual/participants/xml.rst
@@ -22,11 +22,8 @@ Use case
 ========
 
 Use this Participant to fully configure a DomainParticipant, its discovery methods, transport options, DDS QoS, etc.
-The main use case for this Participant is using **DDS Security**, which requires XML configuration from the user's side.
-
-.. TODO
-
-    Add link to security documentation
+The main use case for this Participant is using **DDS Security** (see `Security <https://fast-dds.docs.eprosima.com/en/stable/fastdds/security/security.html>`_),
+which requires XML configuration from the user's side.
 
 .. warning::
 
@@ -77,6 +74,12 @@ Notice that not setting such QoS will not affect the correct functionality of th
       </participant>
 
 
+Repeater
+--------
+
+This Participant allows a tag ``repeater`` to be used as a Repeater server.
+Please refer to section :ref:`use_case_repeater` for more information.
+
 Configuration Example
 =====================
 

diff --git a/resources/configurations/examples/change_domain_allowlist.yaml b/resources/configurations/examples/change_domain_allowlist.yaml
@@ -37,8 +37,6 @@ participants:
 # This configuration example configures a DDS Router to listen to every message published in two different domains
 # and transmit those messages through the other domain.
 
-# 0: Use YAML configuration version v5.0
-
 # 1: Allow DDS Topic Name <HelloWorldTopic> with type <HelloWorld>.
 
 # 2: Insert new topics in order to route to them.