diff --git a/src/main/java/com/eprosima/fastdds/fastddsgen.java b/src/main/java/com/eprosima/fastdds/fastddsgen.java
index eb1e8a63..c4f5118d 100644
--- a/src/main/java/com/eprosima/fastdds/fastddsgen.java
+++ b/src/main/java/com/eprosima/fastdds/fastddsgen.java
@@ -589,7 +589,7 @@ private boolean isIncludePathDuplicated(String pathToCheck) {
         }
         return false;
     }
-        
+
     /*
      * ----------------------------------------------------------------------------------------
      * Arguments
@@ -869,14 +869,19 @@ private Project parseIDL(
                 for (Map.Entry<String, String> entry : m_customStgOutput.entrySet())
                 {
                     System.out.println("Loading custom template " + entry.getKey() + "...");
-                    Path path = Paths.get(entry.getKey());
-                    String templateName = path.getFileName().toString().substring(0, path.getFileName().toString().lastIndexOf('.'));
-                    try {
-                        String content = new String(Files.readAllBytes(path));
-                        tmanager.addGroupFromString(templateName, content);
-                    } catch(IOException e){
-                        System.out.println(ColorMessage.error(
-                                "IOException") + "Cannot read content from " + path.toString());
+                    loadAndAddTemplate(entry.getKey(), tmanager);
+                }
+            }
+            else
+            {
+                // Check if there is a '@' in the output_file_name
+                for (Map.Entry<String, String> entry : m_customStgOutput.entrySet())
+                {
+                    if (entry.getValue().contains("@"))
+                    {
+                        System.out.println("Loading custom template " +
+                                entry.getKey() + " for included IDL file " + idlFilename + "...");
+                        loadAndAddTemplate(entry.getKey(), tmanager);
                     }
                 }
             }
@@ -919,25 +924,27 @@ private Project parseIDL(
                 {
                     for (Map.Entry<String, String> entry : m_customStgOutput.entrySet())
                     {
-                        Path path = Paths.get(entry.getKey());
-                        String templateName = path.getFileName().toString().substring(0, path.getFileName().toString().lastIndexOf('.'));
-                        System.out.println("Generating from custom " + templateName + " to " + entry.getValue());
-
-                        if (returnedValue = Utils.writeFile(output_dir + entry.getValue(), maintemplates.getTemplate(templateName), m_replace))
+                        if (! (returnedValue = createOutputCustomTemplate(
+                                    entry, idlFilename, output_dir, relative_dir, ctx.getFilename(),
+                                    maintemplates, m_replace, project)))
                         {
-                            // Try to determine if the file is a header file.
-                            if (entry.getValue().contains(".hpp") || entry.getValue().contains(".h"))
-                            {
-                                project.addCommonIncludeFile(relative_dir + entry.getValue());
-                            }
-                            else
-                            {
-                                project.addCommonSrcFile(relative_dir + ctx.getFilename() + entry.getValue());
-                            }
+                            break;
                         }
-                        else
+                    }
+                }
+                else
+                {
+                    // Check if there is a '$' in the output_file_name
+                    for (Map.Entry<String, String> entry : m_customStgOutput.entrySet())
+                    {
+                        if (entry.getValue().contains("@"))
                         {
-                            break;
+                            if (! (returnedValue = createOutputCustomTemplate(
+                                        entry, idlFilename, output_dir, relative_dir, ctx.getFilename(),
+                                        maintemplates, m_replace, project)))
+                            {
+                                break;
+                            }
                         }
                     }
                 }
@@ -1177,6 +1184,55 @@ private Project parseIDL(
         return returnedValue ? project : null;
     }
 
+    private void loadAndAddTemplate(
+            String templatePath,
+            TemplateManager tmanager)
+    {
+        try
+        {
+            Path path = Paths.get(templatePath);
+            String templateName = path.getFileName().toString();
+            templateName = templateName.substring(0, templateName.lastIndexOf('.'));
+            String content = new String(Files.readAllBytes(path));
+            tmanager.addGroupFromString(templateName, content);
+        }
+        catch (IOException e)
+        {
+            System.out.println(ColorMessage.error("IOException") + "Cannot read content from " + templatePath);
+        }
+    }
+
+    private boolean createOutputCustomTemplate(
+            Map.Entry<String, String> entry,
+            String idlFilename,
+            String outputDir,
+            String relativeDir,
+            String contextFilename,
+            TemplateGroup maintemplates,
+            boolean replace,
+            Project project)
+    {
+        Path path = Paths.get(entry.getKey());
+        String templateName = path.getFileName().toString();
+        templateName = templateName.substring(0, templateName.lastIndexOf('.'));
+        String outputName = entry.getValue().replace("@", idlFilename.substring(0, idlFilename.lastIndexOf('.')));
+        System.out.println("Generating from custom " + templateName + " to " + outputName);
+
+        boolean ret_val = Utils.writeFile(outputDir + outputName, maintemplates.getTemplate(templateName), replace);
+        if (ret_val)
+        {
+            if (outputName.contains(".hpp") || outputName.contains(".h"))
+            {
+                project.addCommonIncludeFile(relativeDir + outputName);
+            }
+            else
+            {
+                project.addCommonSrcFile(relativeDir + contextFilename + outputName);
+            }
+        }
+        return ret_val;
+    }
+
     private boolean genSolution(
             Solution solution)
     {