From 7a4fb397b618f8c80f06c92d96bd9a5d616c43ab Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Tue, 26 May 2026 11:48:04 +0200
Subject: [PATCH 1/8] Bring breathe wrapper files back

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 docs/fastdds/api_reference/api_reference.rst  | 24 +++++
 .../dds_pim/core/Time_t/Duration_t.rst        |  7 ++
 .../dds_pim/core/Time_t/Time_t.rst            | 10 +++
 .../dds_pim/core/Time_t/const_values.rst      | 14 +++
 .../dds_pim/core/Time_t/operators.rst         | 31 +++++++
 .../dds_pim/core/Time_t/time_toc.rst          | 12 +++
 .../dds_pim/core/condition/basecondition.rst  | 11 +++
 .../dds_pim/core/condition/condition.rst      | 10 +++
 .../dds_pim/core/condition/conditionseq.rst   |  9 ++
 .../dds_pim/core/condition/guardcondition.rst | 10 +++
 .../core/condition/statuscondition.rst        | 10 +++
 .../dds_pim/core/condition/waitset.rst        | 10 +++
 .../api_reference/dds_pim/core/core.rst       | 16 ++++
 .../dds_pim/core/domainentity.rst             | 11 +++
 .../api_reference/dds_pim/core/entity.rst     | 10 +++
 .../dds_pim/core/loanablearray.rst            | 10 +++
 .../dds_pim/core/loanablecollection.rst       | 10 +++
 .../dds_pim/core/loanablesequence.rst         | 13 +++
 .../core/policy/datarepresentationid.rst      | 12 +++
 .../policy/datarepresentationqospolicy.rst    | 11 +++
 .../dds_pim/core/policy/datasharingkind.rst   | 10 +++
 .../core/policy/datasharingqospolicy.rst      | 10 +++
 .../dds_pim/core/policy/deadlineqospolicy.rst | 11 +++
 .../core/policy/destinationorderqospolicy.rst | 11 +++
 .../policy/destinationorderqospolicykind.rst  | 10 +++
 .../policy/disablepositiveacksqospolicy.rst   | 11 +++
 .../core/policy/durabilityqospolicy.rst       | 11 +++
 .../core/policy/durabilityqospolicykind.rst   | 10 +++
 .../policy/durabilityserviceqospolicy.rst     | 10 +++
 .../core/policy/entityfactoryqospolicy.rst    | 11 +++
 .../core/policy/genericdataqospolicy.rst      | 11 +++
 .../core/policy/groupdataqospolicy.rst        | 10 +++
 .../dds_pim/core/policy/historyqospolicy.rst  | 11 +++
 .../core/policy/historyqospolicykind.rst      | 10 +++
 .../core/policy/latencybudgetqospolicy.rst    | 11 +++
 .../dds_pim/core/policy/lifespanqospolicy.rst | 11 +++
 .../core/policy/livelinessqospolicy.rst       | 11 +++
 .../core/policy/livelinessqospolicykind.rst   | 10 +++
 .../core/policy/ownershipqospolicy.rst        | 11 +++
 .../core/policy/ownershipqospolicykind.rst    | 10 +++
 .../policy/ownershipstrengthqospolicy.rst     | 11 +++
 .../policy/participantresourcelimitsqos.rst   |  8 ++
 .../dds_pim/core/policy/partition_t.rst       | 11 +++
 .../core/policy/partitionqospolicy.rst        | 11 +++
 .../dds_pim/core/policy/policy.rst            | 54 +++++++++++
 .../core/policy/presentationqospolicy.rst     | 11 +++
 .../presentationqospolicyaccessscopekind.rst  | 10 +++
 .../dds_pim/core/policy/propertypolicyqos.rst | 10 +++
 .../core/policy/publishmodeqospolicy.rst      | 11 +++
 .../core/policy/publishmodeqospolicykind.rst  | 10 +++
 .../dds_pim/core/policy/qospolicy.rst         | 10 +++
 .../dds_pim/core/policy/qospolicyid_t.rst     |  9 ++
 .../policy/readerdatalifecycleqospolicy.rst   | 11 +++
 .../core/policy/reliabilityqospolicy.rst      | 11 +++
 .../core/policy/reliabilityqospolicykind.rst  | 10 +++
 .../core/policy/resourcelimitsqospolicy.rst   | 11 +++
 .../dds_pim/core/policy/rtpsendpointqos.rst   | 11 +++
 .../core/policy/timebasedfilterqospolicy.rst  | 11 +++
 .../core/policy/topicdataqospolicy.rst        | 10 +++
 .../core/policy/transportconfigqos.rst        | 11 +++
 .../policy/transportpriorityqospolicy.rst     | 11 +++
 .../typeconsistencyenforcementqospolicy.rst   | 11 +++
 .../core/policy/typeconsistencykind.rst       | 10 +++
 .../dds_pim/core/policy/userdataqospolicy.rst | 10 +++
 .../core/policy/wireprotocolconfigqos.rst     | 11 +++
 .../policy/writerdatalifecycleqospolicy.rst   | 11 +++
 .../core/policy/writerresourcelimitsqos.rst   | 11 +++
 .../dds_pim/core/stackallocatedsequence.rst   | 10 +++
 .../dds_pim/core/status/basestatus.rst        | 10 +++
 .../core/status/deadlinemissedstatus.rst      | 10 +++
 .../core/status/incompatibleqosstatus.rst     | 10 +++
 .../core/status/inconsistenttopicstatus.rst   |  9 ++
 .../core/status/livelinesschangedstatus.rst   | 10 +++
 .../dds_pim/core/status/matchedstatus.rst     | 10 +++
 .../status/offereddeadlinemissedstatus.rst    |  9 ++
 .../status/offeredicompatibleqosstatus.rst    |  9 ++
 .../core/status/publicationmatchedstatus.rst  | 10 +++
 .../dds_pim/core/status/qospolicycount.rst    | 10 +++
 .../dds_pim/core/status/qospolicycountseq.rst |  9 ++
 .../status/requesteddeadlinemissedstatus.rst  |  9 ++
 .../status/requestedicompatibleqosstatus.rst  |  9 ++
 .../core/status/rtpslivelinessloststatus.rst  |  9 ++
 .../dds_pim/core/status/sampleloststatus.rst  |  9 ++
 .../core/status/samplerejectedstatus.rst      | 10 +++
 .../core/status/samplerejectedstatuskind.rst  |  9 ++
 .../dds_pim/core/status/status.rst            | 25 ++++++
 .../dds_pim/core/status/statusmask.rst        | 13 +++
 .../core/status/subscriptionmatchedstatus.rst | 10 +++
 .../fastdds/api_reference/dds_pim/dds_pim.rst | 17 ++++
 .../api_reference/dds_pim/domain/domain.rst   | 12 +++
 .../dds_pim/domain/domainparticipant.rst      | 10 +++
 .../domain/domainparticipantextendedqos.rst   | 10 +++
 .../domain/domainparticipantfactory.rst       | 10 +++
 .../domain/domainparticipantfactoryqos.rst    | 10 +++
 .../domain/domainparticipantlistener.rst      | 10 +++
 .../dds_pim/domain/domainparticipantqos.rst   | 13 +++
 .../dds_pim/publisher/datawriter.rst          | 10 +++
 .../dds_pim/publisher/datawriterlistener.rst  | 10 +++
 .../dds_pim/publisher/datawriterqos.rst       | 16 ++++
 .../dds_pim/publisher/publisher.rst           | 13 +++
 .../dds_pim/publisher/publisher_class.rst     | 10 +++
 .../dds_pim/publisher/publisherlistener.rst   | 10 +++
 .../dds_pim/publisher/publisherqos.rst        | 13 +++
 .../publisher/rtpsreliablewriterqos.rst       | 10 +++
 .../dds_pim/rpc/remoteexceptioncode_t.rst     |  9 ++
 .../rpc/remoteinvalidargumenterror.rst        | 10 +++
 .../dds_pim/rpc/remoteoutofresourceserror.rst | 10 +++
 .../rpc/remoteunknownexceptionerror.rst       | 10 +++
 .../rpc/remoteunknownoperationerror.rst       | 10 +++
 .../dds_pim/rpc/remoteunsupportederror.rst    | 10 +++
 .../api_reference/dds_pim/rpc/replier.rst     | 10 +++
 .../api_reference/dds_pim/rpc/replierqos.rst  | 10 +++
 .../api_reference/dds_pim/rpc/requester.rst   | 10 +++
 .../dds_pim/rpc/requesterqos.rst              | 10 +++
 .../api_reference/dds_pim/rpc/requestinfo.rst |  9 ++
 .../fastdds/api_reference/dds_pim/rpc/rpc.rst | 30 +++++++
 .../dds_pim/rpc/rpcbrokenpipeexception.rst    | 10 +++
 .../api_reference/dds_pim/rpc/rpcentity.rst   | 10 +++
 .../dds_pim/rpc/rpcexception.rst              | 10 +++
 .../dds_pim/rpc/rpcfeedcancelledexception.rst | 10 +++
 .../dds_pim/rpc/rpcoperationerror.rst         | 10 +++
 .../dds_pim/rpc/rpcremoteexception.rst        | 10 +++
 .../api_reference/dds_pim/rpc/rpcrequest.rst  | 10 +++
 .../api_reference/dds_pim/rpc/rpcserver.rst   | 10 +++
 .../rpc/rpcserverschedulingstrategy.rst       | 10 +++
 .../dds_pim/rpc/rpcstatuscode.rst             |  9 ++
 .../dds_pim/rpc/rpctimeoutexception.rst       | 10 +++
 .../api_reference/dds_pim/rpc/service.rst     | 10 +++
 .../dds_pim/rpc/servicetypesupport.rst        | 10 +++
 .../dds_pim/subscriber/datareader.rst         | 10 +++
 .../dds_pim/subscriber/datareaderlistener.rst | 10 +++
 .../dds_pim/subscriber/datareaderqos.rst      | 16 ++++
 .../dds_pim/subscriber/instancestatekind.rst  |  9 ++
 .../dds_pim/subscriber/readcondition.rst      | 10 +++
 .../subscriber/readerresourcelimitsqos.rst    | 10 +++
 .../subscriber/rtpsreliablereaderqos.rst      | 10 +++
 .../dds_pim/subscriber/sampleinfo.rst         | 10 +++
 .../dds_pim/subscriber/samplestatekind.rst    |  9 ++
 .../dds_pim/subscriber/subscriber.rst         | 19 ++++
 .../dds_pim/subscriber/subscriber_class.rst   | 10 +++
 .../dds_pim/subscriber/subscriberlistener.rst | 10 +++
 .../dds_pim/subscriber/subscriberqos.rst      | 13 +++
 .../dds_pim/subscriber/viewstatekind.rst      |  9 ++
 .../dds_pim/topic/contentfilteredtopic.rst    | 13 +++
 .../dds_pim/topic/icontentfilter.rst          | 10 +++
 .../dds_pim/topic/icontentfilterfactory.rst   | 10 +++
 .../api_reference/dds_pim/topic/topic.rst     | 16 ++++
 .../dds_pim/topic/topic_class.rst             | 10 +++
 .../dds_pim/topic/topicdatatype.rst           | 10 +++
 .../dds_pim/topic/topicdescription.rst        | 10 +++
 .../dds_pim/topic/topiclistener.rst           | 10 +++
 .../api_reference/dds_pim/topic/topicqos.rst  | 13 +++
 .../dds_pim/topic/typeinformation.rst         | 10 +++
 .../dds_pim/topic/typesupport.rst             | 10 +++
 .../dds_pim/xtypes/annotationdescriptor.rst   | 10 +++
 .../dds_pim/xtypes/dynamic_types.rst          | 19 ++++
 .../dds_pim/xtypes/dynamicdata.rst            | 10 +++
 .../dds_pim/xtypes/dynamicdatafactory.rst     | 10 +++
 .../dds_pim/xtypes/dynamicpubsubtype.rst      | 10 +++
 .../dds_pim/xtypes/dynamictype.rst            | 10 +++
 .../dds_pim/xtypes/dynamictypebuilder.rst     | 10 +++
 .../xtypes/dynamictypebuilderfactory.rst      | 10 +++
 .../dds_pim/xtypes/dynamictypemember.rst      | 10 +++
 .../dds_pim/xtypes/exception.rst              | 10 +++
 .../dds_pim/xtypes/memberdescriptor.rst       | 10 +++
 .../dds_pim/xtypes/type_representation.rst    |  8 ++
 .../dds_pim/xtypes/typedescriptor.rst         | 10 +++
 .../dds_pim/xtypes/typeobjectregistry.rst     | 10 +++
 .../dds_pim/xtypes/typeobjectutils.rst        | 10 +++
 .../api_reference/dds_pim/xtypes/utils.rst    | 12 +++
 .../dds_pim/xtypes/verbatimtextdescriptor.rst | 10 +++
 .../api_reference/dds_pim/xtypes/xtypes.rst   | 10 +++
 docs/fastdds/api_reference/rtps/Endpoint.rst  |  8 ++
 .../fastdds/api_reference/rtps/RTPSDomain.rst |  8 ++
 .../rtps/attributes/BuiltinAttributes.rst     |  8 ++
 .../rtps/attributes/DiscoveryProtocol.rst     |  7 ++
 .../rtps/attributes/DiscoverySettings.rst     |  8 ++
 .../rtps/attributes/EndpointAttributes.rst    |  8 ++
 .../rtps/attributes/ExternalLocators.rst      |  7 ++
 .../rtps/attributes/HistoryAttributes.rst     |  8 ++
 .../attributes/InitialAnnouncementConfig.rst  |  8 ++
 .../attributes/ParticipantFilteringFlags.rst  |  7 ++
 .../rtps/attributes/PropertyPolicy.rst        |  8 ++
 .../rtps/attributes/PropertyPolicyHelper.rst  |  8 ++
 .../RTPSParticipantAllocationAttributes.rst   |  8 ++
 .../attributes/RTPSParticipantAttributes.rst  |  8 ++
 .../rtps/attributes/RTPSWriterPublishMode.rst |  7 ++
 .../rtps/attributes/ReaderAttributes.rst      |  8 ++
 .../rtps/attributes/ReaderTimes.rst           |  8 ++
 .../RemoteLocatorsAllocationAttributes.rst    |  8 ++
 .../SendBuffersAllocationAttributes.rst       |  8 ++
 .../rtps/attributes/SimpleEDPAttributes.rst   |  8 ++
 .../rtps/attributes/ThreadSettings.rst        |  8 ++
 .../attributes/VariableLengthDataLimits.rst   |  8 ++
 .../rtps/attributes/WriterAttributes.rst      |  8 ++
 .../rtps/attributes/WriterTimes.rst           |  8 ++
 .../rtps/attributes/attributes.rst            | 31 +++++++
 ...lt_RTPSParticipantAllocationAttributes.rst |  7 ++
 .../builtin/data/ContentFilterProperty.rst    |  8 ++
 .../data/ParticipantBuiltinTopicData.rst      | 10 +++
 .../data/PublicationBuiltinTopicData.rst      | 10 +++
 .../data/SubscriptionBuiltinTopicData.rst     | 10 +++
 .../api_reference/rtps/builtin/data/data.rst  | 12 +++
 .../common/BinaryProperty/BinaryProperty.rst  |  8 ++
 .../BinaryProperty/BinaryPropertyHelper.rst   |  8 ++
 .../BinaryProperty/BinaryPropertySeq.rst      |  7 ++
 .../BinaryProperty/binaryproperty_toc.rst     | 11 +++
 .../rtps/common/CDRMessage_t/CDRMessage_t.rst |  8 ++
 .../common/CDRMessage_t/cdrmessage_toc.rst    | 10 +++
 .../rtps/common/CDRMessage_t/defines.rst      | 34 +++++++
 .../CDRSerialization/CDRSerialization.rst     |  7 ++
 .../rtps/common/CacheChange/CacheChange_t.rst |  8 ++
 .../rtps/common/CacheChange/ChangeKind_t.rst  |  7 ++
 .../common/CacheChange/cachechange_toc.rst    | 10 +++
 .../rtps/common/EntityId_t/EntityId_t.rst     |  8 ++
 .../rtps/common/EntityId_t/const_values.rst   | 77 ++++++++++++++++
 .../rtps/common/EntityId_t/defines.rst        | 89 +++++++++++++++++++
 .../rtps/common/EntityId_t/entityid_toc.rst   | 12 +++
 .../rtps/common/EntityId_t/operators.rst      | 20 +++++
 .../FragmentNumber/FragmentNumberSet_t.rst    |  7 ++
 .../FragmentNumber/FragmentNumber_t.rst       | 10 +++
 .../FragmentNumber/fragmentnumber_toc.rst     | 10 +++
 .../api_reference/rtps/common/Guid/GUID_t.rst |  8 ++
 .../rtps/common/Guid/c_Guid_Unknown.rst       |  7 ++
 .../rtps/common/Guid/guid_toc.rst             | 11 +++
 .../rtps/common/Guid/operators.rst            | 20 +++++
 .../rtps/common/GuidPrefix_t/GuidPrefix_t.rst |  8 ++
 .../GuidPrefix_t/c_GuidPrefix_Unknown.rst     |  7 ++
 .../common/GuidPrefix_t/guidprefix_toc.rst    | 11 +++
 .../rtps/common/GuidPrefix_t/operators.rst    | 10 +++
 .../InstanceHandle/InstanceHandle_t.rst       |  8 ++
 .../c_InstanceHandle_Unknown.rst              |  7 ++
 .../InstanceHandle/instancehandle_toc.rst     | 11 +++
 .../rtps/common/InstanceHandle/operators.rst  | 25 ++++++
 .../rtps/common/Locator/IsAddressDefined.rst  |  7 ++
 .../rtps/common/Locator/IsLocatorValid.rst    |  7 ++
 .../rtps/common/Locator/LocatorList.rst       |  8 ++
 .../Locator/LocatorListConstIterator.rst      |  7 ++
 .../common/Locator/LocatorListIterator.rst    |  7 ++
 .../rtps/common/Locator/Locator_t.rst         |  8 ++
 .../rtps/common/Locator/Locators.rst          |  8 ++
 .../rtps/common/Locator/LocatorsIterator.rst  |  8 ++
 .../rtps/common/Locator/defines.rst           | 35 ++++++++
 .../rtps/common/Locator/locator_toc.rst       | 18 ++++
 .../rtps/common/Locator/operators.rst         | 28 ++++++
 .../LocatorSelector/LocatorSelector.rst       |  8 ++
 .../LocatorSelectorEntry.rst                  |  8 ++
 .../LocatorWithMask/LocatorWithMask.rst       |  8 ++
 .../rtps/common/MatchingInfo/MatchingInfo.rst |  8 ++
 .../common/MatchingInfo/MatchingStatus.rst    |  7 ++
 .../common/MatchingInfo/matchinginfo_toc.rst  | 10 +++
 .../common/PortParameters/PortParameters.rst  |  8 ++
 .../rtps/common/Property/Property.rst         |  8 ++
 .../rtps/common/Property/PropertyHelper.rst   |  8 ++
 .../rtps/common/Property/PropertySeq.rst      |  7 ++
 .../rtps/common/Property/property_toc.rst     | 11 +++
 .../RemoteLocators/RemoteLocatorList.rst      |  8 ++
 .../rtps/common/RemoteLocators/operators.rst  |  7 ++
 .../RemoteLocators/remotelocators_toc.rst     | 10 +++
 .../common/SampleIdentity/SampleIdentity.rst  |  8 ++
 .../SequenceNumber/SequenceNumberDiff.rst     |  8 ++
 .../SequenceNumber/SequenceNumberHash.rst     |  8 ++
 .../SequenceNumber/SequenceNumberSet_t.rst    |  7 ++
 .../SequenceNumber/SequenceNumber_t.rst       |  8 ++
 .../c_SequenceNumber_Unknown.rst              |  7 ++
 .../rtps/common/SequenceNumber/operators.rst  | 41 +++++++++
 .../SequenceNumber/sequencenumber_toc.rst     | 15 ++++
 .../common/SequenceNumber/sort_seqNum.rst     |  7 ++
 .../SerializedPayload/SerializedPayload_t.rst |  8 ++
 .../rtps/common/SerializedPayload/defines.rst | 17 ++++
 .../serializedpayload_toc.rst                 | 10 +++
 .../rtps/common/Time_t/Time_t.rst             |  8 ++
 .../rtps/common/Time_t/defines.rst            | 11 +++
 .../rtps/common/Time_t/operators.rst          | 32 +++++++
 .../rtps/common/Time_t/time_toc.rst           | 11 +++
 .../AuthenticatedPeerCredentialToken.rst      |  7 ++
 .../rtps/common/Token/DataHolder.rst          |  8 ++
 .../rtps/common/Token/DataHolderHelper.rst    |  8 ++
 .../rtps/common/Token/DataHolderSeq.rst       |  7 ++
 .../rtps/common/Token/IdentityStatusToken.rst |  7 ++
 .../rtps/common/Token/IdentityToken.rst       |  7 ++
 .../Token/PermissionsCredentialToken.rst      |  7 ++
 .../rtps/common/Token/PermissionsToken.rst    |  7 ++
 .../api_reference/rtps/common/Token/Token.rst |  7 ++
 .../rtps/common/Token/token_toc.rst           | 17 ++++
 .../common/Types/BuiltinEndpointSet_t.rst     |  7 ++
 .../rtps/common/Types/Count_t.rst             |  7 ++
 .../rtps/common/Types/DurabilityKind_t.rst    |  7 ++
 .../rtps/common/Types/Endianness_t.rst        |  7 ++
 .../rtps/common/Types/EndpointKind_t.rst      |  7 ++
 .../rtps/common/Types/ProtocolVersion_t.rst   | 11 +++
 .../rtps/common/Types/ReliabilityKind_t.rst   |  7 ++
 .../rtps/common/Types/SubmessageFlag.rst      |  7 ++
 .../rtps/common/Types/TopicKind_t.rst         |  7 ++
 .../rtps/common/Types/VendorId_t.rst          |  7 ++
 .../rtps/common/Types/const_values.rst        | 25 ++++++
 .../rtps/common/Types/defines.rst             | 31 +++++++
 .../api_reference/rtps/common/Types/octet.rst |  7 ++
 .../rtps/common/Types/types_toc.rst           | 21 +++++
 .../rtps/common/WriteParams/WriteParams.rst   |  8 ++
 .../api_reference/rtps/common/common.rst      | 32 +++++++
 .../flowcontrol/FlowControllerDescriptor.rst  | 15 ++++
 .../FlowControllerSchedulerPolicy.rst         |  7 ++
 .../rtps/flowcontrol/flowcontrol.rst          | 10 +++
 .../rtps/history/History_class.rst            |  8 ++
 .../rtps/history/IChangePool.rst              |  8 ++
 .../rtps/history/IPayloadPool.rst             |  8 ++
 .../rtps/history/ReaderHistory.rst            |  8 ++
 .../rtps/history/WriterHistory.rst            |  8 ++
 .../api_reference/rtps/history/history.rst    | 13 +++
 .../rtps/participant/RTPSParticipant.rst      |  8 ++
 .../participant/RTPSParticipantListener.rst   |  8 ++
 .../rtps/participant/participant.rst          | 11 +++
 .../ParticipantAuthenticationInfo.rst         | 11 +++
 .../ParticipantDiscoveryStatus.rst            |  7 ++
 .../ReaderDiscoveryStatus.rst                 |  7 ++
 .../WriterDiscoveryStatus.rst                 |  7 ++
 .../participantdiscoveryinfo.rst              | 12 +++
 .../api_reference/rtps/reader/RTPSReader.rst  |  8 ++
 .../rtps/reader/ReaderListener.rst            |  8 ++
 .../api_reference/rtps/reader/reader.rst      | 10 +++
 .../rtps/resources/MemoryManagementPolicy.rst |  7 ++
 .../rtps/resources/resources.rst              |  9 ++
 docs/fastdds/api_reference/rtps/rtps.rst      | 22 +++++
 .../api_reference/rtps/writer/RTPSWriter.rst  |  8 ++
 .../rtps/writer/WriterListener.rst            |  8 ++
 .../api_reference/rtps/writer/writer.rst      | 10 +++
 .../statistics/datareader_qos.rst             | 20 +++++
 .../statistics/datawriter_qos.rst             | 13 +++
 .../statistics/domain_participant.rst         | 10 +++
 .../api_reference/statistics/statistics.rst   | 14 +++
 .../api_reference/statistics/topic_names.rst  | 57 ++++++++++++
 .../transport/chaining_transport.rst          |  8 ++
 .../chaining_transport/chaining_transport.rst |  8 ++
 .../chaining_transport_descriptor.rst         |  8 ++
 .../shared_mem_transport_descriptor.rst       |  8 ++
 .../test_shared_mem_transport_descriptor.rst  |  8 ++
 .../transport/shm_transport_interface.rst     |  8 ++
 .../tcp_transport_descriptor.rst              |  8 ++
 .../tcpv4_transport_descriptor.rst            |  8 ++
 .../tcpv6_transport_descriptor.rst            |  8 ++
 .../transport/tcp_transport_interface.rst     |  9 ++
 .../api_reference/transport/transport.rst     | 15 ++++
 .../transport_generic_interfaces.rst          | 11 +++
 .../port_based_transport_descriptor.rst       |  8 ++
 .../socket_transport_descriptor.rst           | 11 +++
 .../transport_descriptor_interface.rst        |  8 ++
 .../transport_interface.rst                   | 24 +++++
 .../transport_receiver_interface.rst          |  8 ++
 .../udp_transport_descriptor.rst              |  8 ++
 .../udpv4_transport_descriptor.rst            |  8 ++
 .../udpv6_transport_descriptor.rst            |  8 ++
 .../transport/udp_transport_interface.rst     |  9 ++
 .../dds_pim/core/core.rst                     | 14 +++
 .../dds_pim/core/domainentity.rst             |  9 ++
 .../dds_pim/core/entity.rst                   |  8 ++
 .../dds_pim/core/loanablearray.rst            |  9 ++
 .../dds_pim/core/loanablecollection.rst       |  8 ++
 .../dds_pim/core/loanablesequence.rst         |  9 ++
 .../core/policy/datarepresentationid.rst      | 14 +++
 .../policy/datarepresentationqospolicy.rst    |  8 ++
 .../dds_pim/core/policy/datasharingkind.rst   | 12 +++
 .../core/policy/datasharingqospolicy.rst      |  8 ++
 .../dds_pim/core/policy/deadlineqospolicy.rst |  8 ++
 .../core/policy/destinationorderqospolicy.rst |  8 ++
 .../policy/destinationorderqospolicykind.rst  | 11 +++
 .../policy/disablepositiveacksqospolicy.rst   |  8 ++
 .../core/policy/durabilityqospolicy.rst       |  8 ++
 .../core/policy/durabilityqospolicykind.rst   | 14 +++
 .../policy/durabilityserviceqospolicy.rst     |  8 ++
 .../core/policy/entityfactoryqospolicy.rst    |  8 ++
 .../core/policy/genericdataqospolicy.rst      |  8 ++
 .../core/policy/groupdataqospolicy.rst        |  8 ++
 .../dds_pim/core/policy/historyqospolicy.rst  |  8 ++
 .../core/policy/historyqospolicykind.rst      | 10 +++
 .../core/policy/latencybudgetqospolicy.rst    |  8 ++
 .../dds_pim/core/policy/lifespanqospolicy.rst |  8 ++
 .../core/policy/livelinessqospolicy.rst       |  8 ++
 .../core/policy/livelinessqospolicykind.rst   | 12 +++
 .../core/policy/ownershipqospolicy.rst        |  8 ++
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 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/topicdescription.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/topiclistener.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/typeidv1.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/typeinformation.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/typeobjectv1.rst
 create mode 100644 docs/fastdds/python_api_reference/dds_pim/topic/typesupport.rst
 create mode 100644 docs/fastdds/python_api_reference/python_api_reference.rst

diff --git a/docs/fastdds/api_reference/api_reference.rst b/docs/fastdds/api_reference/api_reference.rst
new file mode 100644
index 000000000..402985f93
--- /dev/null
+++ b/docs/fastdds/api_reference/api_reference.rst
@@ -0,0 +1,24 @@
+.. _api_reference:
+
+C++ API Reference
+=================
+
+*Fast DDS*, as a Data Distribution Service (DDS) standard implementation, exposes the DDS Data-Centric Publish-Subscribe
+(DCPS) Platform Independent Model (PIM) API, as specified in the
+`DDS specification <https://www.omg.org/spec/DDS/1.4/PDF>`_.
+Furthermore, is also gives the user the possibility to directly interact with the underlying Real-time
+Publish-Subscribe (RTPS) API that DDS implements for wired communications, as specified in the
+`RTPS standard <https://www.omg.org/spec/DDSI-RTPS/2.2/PDF>`_.
+
+This section presents the most commonly used APIs provided by *Fast DDS*.
+For more information about the API reference, please refer to
+`Fast DDS API reference <https://www.eprosima.com/docs/fast-rtps/latest/API>`_.
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/dds_pim
+    /fastdds/api_reference/rtps/rtps
+    /fastdds/api_reference/transport/transport
+    /fastdds/api_reference/log/log
+    /fastdds/api_reference/statistics/statistics
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/Duration_t.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/Duration_t.rst
new file mode 100644
index 000000000..33084f2b7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/Time_t/Duration_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+DDS Layer Duration_t
+--------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::Duration_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/Time_t.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/Time_t.rst
new file mode 100644
index 000000000..730524642
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/Time_t/Time_t.rst
@@ -0,0 +1,10 @@
+.. _api_pim_time_t:
+
+.. rst-class:: api-ref
+
+DDS Layer Time_t
+----------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::Time_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/const_values.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/const_values.rst
new file mode 100644
index 000000000..9defb8801
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/Time_t/const_values.rst
@@ -0,0 +1,14 @@
+.. rst-class:: api-ref
+
+Const values
+------------
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeInfinite
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeZero
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::c_TimeInvalid
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/operators.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/operators.rst
new file mode 100644
index 000000000..3ac7d27ac
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/Time_t/operators.rst
@@ -0,0 +1,31 @@
+.. rst-class:: api-ref
+
+Time_t DDS Operators
+--------------------
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator==(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator!=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator>(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator>=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator<<(std::ostream &output, const Time_t &t)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator+(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::operator-(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst b/docs/fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst
new file mode 100644
index 000000000..a64f90e1d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst
@@ -0,0 +1,12 @@
+.. _api_dds_common_time_t:
+
+DDS Time_t
+----------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/core/Time_t/const_values
+    /fastdds/api_reference/dds_pim/core/Time_t/Duration_t
+    /fastdds/api_reference/dds_pim/core/Time_t/operators
+    /fastdds/api_reference/dds_pim/core/Time_t/Time_t
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/basecondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/basecondition.rst
new file mode 100644
index 000000000..f276d1df4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/basecondition.rst
@@ -0,0 +1,11 @@
+Condition
+=========
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/core/condition/condition.rst
+    /fastdds/api_reference/dds_pim/core/condition/conditionseq.rst
+    /fastdds/api_reference/dds_pim/core/condition/guardcondition.rst
+    /fastdds/api_reference/dds_pim/core/condition/statuscondition.rst
+    /fastdds/api_reference/dds_pim/core/condition/waitset.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/condition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/condition.rst
new file mode 100644
index 000000000..a4d476464
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/condition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_condition:
+
+.. rst-class:: api-ref
+
+Condition
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::Condition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/conditionseq.rst b/docs/fastdds/api_reference/dds_pim/core/condition/conditionseq.rst
new file mode 100644
index 000000000..5129f9675
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/conditionseq.rst
@@ -0,0 +1,9 @@
+.. _api_pim_conditionseq:
+
+.. rst-class:: api-ref
+
+ConditionSeq
+------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::ConditionSeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/guardcondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/guardcondition.rst
new file mode 100644
index 000000000..9c9f837ce
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/guardcondition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_guardcondition:
+
+.. rst-class:: api-ref
+
+GuardCondition
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::GuardCondition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/statuscondition.rst b/docs/fastdds/api_reference/dds_pim/core/condition/statuscondition.rst
new file mode 100644
index 000000000..8e9afc92b
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/statuscondition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_statuscondition:
+
+.. rst-class:: api-ref
+
+StatusCondition
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::StatusCondition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/condition/waitset.rst b/docs/fastdds/api_reference/dds_pim/core/condition/waitset.rst
new file mode 100644
index 000000000..3cbab0a4f
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/condition/waitset.rst
@@ -0,0 +1,10 @@
+.. _api_pim_waitset:
+
+.. rst-class:: api-ref
+
+Wait-set
+--------
+
+.. doxygenclass:: eprosima::fastdds::dds::WaitSet
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/core.rst b/docs/fastdds/api_reference/dds_pim/core/core.rst
new file mode 100644
index 000000000..4372ba585
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/core.rst
@@ -0,0 +1,16 @@
+Core
+====
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/core/condition/basecondition.rst
+   /fastdds/api_reference/dds_pim/core/domainentity.rst
+   /fastdds/api_reference/dds_pim/core/entity.rst
+   /fastdds/api_reference/dds_pim/core/loanablearray.rst
+   /fastdds/api_reference/dds_pim/core/loanablecollection.rst
+   /fastdds/api_reference/dds_pim/core/loanablesequence.rst
+   /fastdds/api_reference/dds_pim/core/policy/policy.rst
+   /fastdds/api_reference/dds_pim/core/stackallocatedsequence.rst
+   /fastdds/api_reference/dds_pim/core/status/status.rst
+   /fastdds/api_reference/dds_pim/core/Time_t/time_toc.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/domainentity.rst b/docs/fastdds/api_reference/dds_pim/core/domainentity.rst
new file mode 100644
index 000000000..443284281
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/domainentity.rst
@@ -0,0 +1,11 @@
+
+.. _api_pim_domainentity:
+
+.. rst-class:: api-ref
+
+DomainEntity
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainEntity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/entity.rst b/docs/fastdds/api_reference/dds_pim/core/entity.rst
new file mode 100644
index 000000000..0d24fac0e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/entity.rst
@@ -0,0 +1,10 @@
+.. _api_pim_entity:
+
+.. rst-class:: api-ref
+
+Entity
+------
+
+.. doxygenclass:: eprosima::fastdds::dds::Entity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablearray.rst b/docs/fastdds/api_reference/dds_pim/core/loanablearray.rst
new file mode 100644
index 000000000..898b0658a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/loanablearray.rst
@@ -0,0 +1,10 @@
+.. _api_pim_loanablearray:
+
+.. rst-class:: api-ref
+
+LoanableArray
+-------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::LoanableArray
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablecollection.rst b/docs/fastdds/api_reference/dds_pim/core/loanablecollection.rst
new file mode 100644
index 000000000..580f807fe
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/loanablecollection.rst
@@ -0,0 +1,10 @@
+.. _api_pim_loanablecollection:
+
+.. rst-class:: api-ref
+
+LoanableCollection
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LoanableCollection
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/loanablesequence.rst b/docs/fastdds/api_reference/dds_pim/core/loanablesequence.rst
new file mode 100644
index 000000000..7f1b9a3f7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/loanablesequence.rst
@@ -0,0 +1,13 @@
+.. _api_pim_loanablesequence:
+
+.. rst-class:: api-ref
+
+LoanableSequence
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LoanableSequence
+    :project: FastDDS
+    :members:
+
+.. doxygendefine:: FASTDDS_SEQUENCE
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
new file mode 100644
index 000000000..a221485ae
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
@@ -0,0 +1,12 @@
+.. _api_pim_datarepresentationid:
+
+.. rst-class:: api-ref
+
+DataRepresentationId
+--------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DataRepresentationId
+    :project: FastDDS
+
+.. doxygenvariable:: DEFAULT_DATA_REPRESENTATION
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
new file mode 100644
index 000000000..a11a95cf4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_datarepresentationqospolicy:
+
+.. rst-class:: api-ref
+
+DataRepresentationQosPolicy
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataRepresentationQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst
new file mode 100644
index 000000000..d6c764cd3
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datasharingkind:
+
+.. rst-class:: api-ref
+
+DataSharingKind
+---------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DataSharingKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst
new file mode 100644
index 000000000..cf8980e00
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datasharingqospolicy:
+
+.. rst-class:: api-ref
+
+DataSharingQosPolicy
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataSharingQosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/deadlineqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/deadlineqospolicy.rst
new file mode 100644
index 000000000..f810a883d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/deadlineqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_deadlineqospolicy:
+
+.. rst-class:: api-ref
+
+DeadlineQosPolicy
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DeadlineQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
new file mode 100644
index 000000000..700098dad
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_destinationorderqospolicy:
+
+.. rst-class:: api-ref
+
+DestinationOrderQosPolicy
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DestinationOrderQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
new file mode 100644
index 000000000..48f940b2e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_destinationorderqospolicykind:
+
+.. rst-class:: api-ref
+
+DestinationOrderQosPolicyKind
+-----------------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DestinationOrderQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
new file mode 100644
index 000000000..3ee77105c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_disablepositiveacksqospolicy:
+
+.. rst-class:: api-ref
+
+DisablePositiveACKsQosPolicy
+----------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DisablePositiveACKsQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicy.rst
new file mode 100644
index 000000000..b7613ac53
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_durabilityqospolicy:
+
+.. rst-class:: api-ref
+
+DurabilityQosPolicy
+-------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DurabilityQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
new file mode 100644
index 000000000..efada43cb
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_durabilityqospolicykind:
+
+.. rst-class:: api-ref
+
+DurabilityQosPolicyKind
+-----------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::DurabilityQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
new file mode 100644
index 000000000..c5711c828
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_durabilityserviceqospolicy:
+
+.. rst-class:: api-ref
+
+DurabilityServiceQosPolicy
+--------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DurabilityServiceQosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
new file mode 100644
index 000000000..e210372e6
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_entityfactoryqospolicy:
+
+.. rst-class:: api-ref
+
+EntityFactoryQosPolicy
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::EntityFactoryQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/genericdataqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/genericdataqospolicy.rst
new file mode 100644
index 000000000..e63edb9ec
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/genericdataqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_genericdataqospolicy:
+
+.. rst-class:: api-ref
+
+GenericDataQosPolicy
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::GenericDataQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/groupdataqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/groupdataqospolicy.rst
new file mode 100644
index 000000000..b0afd6a47
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/groupdataqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_groupdataqospolicy:
+
+.. rst-class:: api-ref
+
+GroupDataQosPolicy
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::GroupDataQosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicy.rst
new file mode 100644
index 000000000..25fdaff7e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_historyqospolicy:
+
+.. rst-class:: api-ref
+
+HistoryQosPolicy
+----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::HistoryQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicykind.rst
new file mode 100644
index 000000000..9ec103417
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/historyqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_historyqospolicykind:
+
+.. rst-class:: api-ref
+
+HistoryQosPolicyKind
+--------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::HistoryQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
new file mode 100644
index 000000000..7403f8229
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_latencybudgetqospolicy:
+
+.. rst-class:: api-ref
+
+LatencyBudgetQosPolicy
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LatencyBudgetQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/lifespanqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/lifespanqospolicy.rst
new file mode 100644
index 000000000..b95d21f52
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/lifespanqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_lifespanqospolicy:
+
+.. rst-class:: api-ref
+
+LifespanQosPolicy
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LifespanQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicy.rst
new file mode 100644
index 000000000..fbcdf4fb3
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_livelinessqospolicy:
+
+.. rst-class:: api-ref
+
+LivelinessQosPolicy
+-------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::LivelinessQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
new file mode 100644
index 000000000..800d340c1
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_livelinessqospolicykind:
+
+.. rst-class:: api-ref
+
+LivelinessQosPolicyKind
+-----------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::LivelinessQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicy.rst
new file mode 100644
index 000000000..dca9e7599
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_ownershipqospolicy:
+
+.. rst-class:: api-ref
+
+OwnershipQosPolicy
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::OwnershipQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
new file mode 100644
index 000000000..d61a93a40
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_ownershipqospolicykind:
+
+.. rst-class:: api-ref
+
+OwnershipQosPolicyKind
+----------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::OwnershipQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
new file mode 100644
index 000000000..58c8d4d7a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_ownershipstrengthqospolicy:
+
+.. rst-class:: api-ref
+
+OwnershipStrengthQosPolicy
+--------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::OwnershipStrengthQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
new file mode 100644
index 000000000..42a03f5d2
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ParticipantResourceLimitsQos
+----------------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::ParticipantResourceLimitsQos
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/partition_t.rst b/docs/fastdds/api_reference/dds_pim/core/policy/partition_t.rst
new file mode 100644
index 000000000..587e16061
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/partition_t.rst
@@ -0,0 +1,11 @@
+.. _api_pim_partition_t:
+
+.. rst-class:: api-ref
+
+Partition_t
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::Partition_t
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/partitionqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/partitionqospolicy.rst
new file mode 100644
index 000000000..5f700cc0b
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/partitionqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_partitionqospolicy:
+
+.. rst-class:: api-ref
+
+PartitionQosPolicy
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::PartitionQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/policy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/policy.rst
new file mode 100644
index 000000000..37f3c53e2
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/policy.rst
@@ -0,0 +1,54 @@
+Policy
+======
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
+   /fastdds/api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/datasharingqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/datasharingkind.rst
+   /fastdds/api_reference/dds_pim/core/policy/deadlineqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/durabilityqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/genericdataqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/groupdataqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/historyqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/historyqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/lifespanqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/livelinessqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/ownershipqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
+   /fastdds/api_reference/dds_pim/core/policy/partition_t.rst
+   /fastdds/api_reference/dds_pim/core/policy/partitionqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/presentationqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
+   /fastdds/api_reference/dds_pim/core/policy/propertypolicyqos.rst
+   /fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/qospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/qospolicyid_t.rst
+   /fastdds/api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/rtpsendpointqos.rst
+   /fastdds/api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/topicdataqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/transportconfigqos.rst
+   /fastdds/api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/typeconsistencykind.rst
+   /fastdds/api_reference/dds_pim/core/policy/userdataqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
+   /fastdds/api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
+   /fastdds/api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicy.rst
new file mode 100644
index 000000000..620138b4d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_presentationqospolicy:
+
+.. rst-class:: api-ref
+
+PresentationQosPolicy
+---------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::PresentationQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
new file mode 100644
index 000000000..d7e4931ff
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_presentationqospolicyaccessscopekind:
+
+.. rst-class:: api-ref
+
+PresentationQosPolicyAccessScopeKind
+------------------------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::PresentationQosPolicyAccessScopeKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/propertypolicyqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/propertypolicyqos.rst
new file mode 100644
index 000000000..dae4aff6a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/propertypolicyqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_propertypolicyqos:
+
+.. rst-class:: api-ref
+
+PropertyPolicyQos
+-----------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::PropertyPolicyQos
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
new file mode 100644
index 000000000..98a158031
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_publishmodeqospolicy:
+
+.. rst-class:: api-ref
+
+PublishModeQosPolicy
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::PublishModeQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
new file mode 100644
index 000000000..5b365687c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_publishmodeqospolicykind:
+
+.. rst-class:: api-ref
+
+PublishModeQosPolicyKind
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::PublishModeQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/qospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/qospolicy.rst
new file mode 100644
index 000000000..0e17854bf
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/qospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_qospolicy:
+
+.. rst-class:: api-ref
+
+QosPolicy
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::QosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/qospolicyid_t.rst b/docs/fastdds/api_reference/dds_pim/core/policy/qospolicyid_t.rst
new file mode 100644
index 000000000..7f24e0827
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/qospolicyid_t.rst
@@ -0,0 +1,9 @@
+.. _api_pim_qospolicyid_t:
+
+.. rst-class:: api-ref
+
+QosPolicyId_t
+-------------
+
+.. doxygenenum:: eprosima::fastdds::dds::QosPolicyId_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
new file mode 100644
index 000000000..4cbdc79ae
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_readerdatalifecycleqospolicy:
+
+.. rst-class:: api-ref
+
+ReaderDataLifecycleQosPolicy
+----------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ReaderDataLifecycleQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
new file mode 100644
index 000000000..319c986d1
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_reliabilityqospolicy:
+
+.. rst-class:: api-ref
+
+ReliabilityQosPolicy
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ReliabilityQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
new file mode 100644
index 000000000..40f9b9c92
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_reliabilityqospolicykind:
+
+.. rst-class:: api-ref
+
+ReliabilityQosPolicyKind
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::ReliabilityQosPolicyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
new file mode 100644
index 000000000..9affdd6ba
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_resourcelimitsqospolicy:
+
+.. rst-class:: api-ref
+
+ResourceLimitsQosPolicy
+-----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ResourceLimitsQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/rtpsendpointqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/rtpsendpointqos.rst
new file mode 100644
index 000000000..3a1829538
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/rtpsendpointqos.rst
@@ -0,0 +1,11 @@
+.. _api_pim_rtpsendpointqos:
+
+.. rst-class:: api-ref
+
+RTPSEndpointQos
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::RTPSEndpointQos
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
new file mode 100644
index 000000000..988f253bd
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_timebasedfilterqospolicy:
+
+.. rst-class:: api-ref
+
+TimeBasedFilterQosPolicy
+------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TimeBasedFilterQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/topicdataqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/topicdataqospolicy.rst
new file mode 100644
index 000000000..5f19707fb
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/topicdataqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_topicdataqospolicy:
+
+.. rst-class:: api-ref
+
+TopicDataQosPolicy
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TopicDataQosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/transportconfigqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/transportconfigqos.rst
new file mode 100644
index 000000000..6f3cb0a96
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/transportconfigqos.rst
@@ -0,0 +1,11 @@
+.. _api_pim_transportconfigqos:
+
+.. rst-class:: api-ref
+
+TransportConfigQos
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TransportConfigQos
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
new file mode 100644
index 000000000..6f20e589c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_transportpriorityqospolicy:
+
+.. rst-class:: api-ref
+
+TransportPriorityQosPolicy
+--------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TransportPriorityQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
new file mode 100644
index 000000000..f3f752ba4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_typeconsistencyenforcementqospolicy:
+
+.. rst-class:: api-ref
+
+TypeConsistencyEnforcementQosPolicy
+-----------------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TypeConsistencyEnforcementQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencykind.rst b/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencykind.rst
new file mode 100644
index 000000000..03ba74beb
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/typeconsistencykind.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeconsistencykind:
+
+.. rst-class:: api-ref
+
+TypeConsistencyKind
+-------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::TypeConsistencyKind
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/userdataqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/userdataqospolicy.rst
new file mode 100644
index 000000000..2ca82ce33
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/userdataqospolicy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_userdataqospolicy:
+
+.. rst-class:: api-ref
+
+UserDataQosPolicy
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::UserDataQosPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
new file mode 100644
index 000000000..f058ad146
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
@@ -0,0 +1,11 @@
+.. _api_pim_wireprotocolconfigqos:
+
+.. rst-class:: api-ref
+
+WireProtocolConfigQos
+---------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::WireProtocolConfigQos
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst b/docs/fastdds/api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
new file mode 100644
index 000000000..169651a6b
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
@@ -0,0 +1,11 @@
+.. _api_pim_writerdatalifecycleqospolicy:
+
+.. rst-class:: api-ref
+
+WriterDataLifecycleQosPolicy
+----------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::WriterDataLifecycleQosPolicy
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst b/docs/fastdds/api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
new file mode 100644
index 000000000..c93181b1a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
@@ -0,0 +1,11 @@
+.. _api_pim_writerresourcelimitsqos:
+
+.. rst-class:: api-ref
+
+WriterResourceLimitsQos
+-----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::WriterResourceLimitsQos
+    :project: FastDDS
+    :members:
+
diff --git a/docs/fastdds/api_reference/dds_pim/core/stackallocatedsequence.rst b/docs/fastdds/api_reference/dds_pim/core/stackallocatedsequence.rst
new file mode 100644
index 000000000..dfaae59e2
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/stackallocatedsequence.rst
@@ -0,0 +1,10 @@
+.. _api_pim_stackallocatedsequence:
+
+.. rst-class:: api-ref
+
+StackAllocatedSequence
+----------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::StackAllocatedSequence
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/basestatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/basestatus.rst
new file mode 100644
index 000000000..1848a0239
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/basestatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_basestatus:
+
+.. rst-class:: api-ref
+
+BaseStatus
+----------
+
+.. doxygenstruct:: eprosima::fastdds::dds::BaseStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/deadlinemissedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/deadlinemissedstatus.rst
new file mode 100644
index 000000000..fe3979d6d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/deadlinemissedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_deadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+DeadlineMissedStatus
+--------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::DeadlineMissedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/incompatibleqosstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/incompatibleqosstatus.rst
new file mode 100644
index 000000000..09259128c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/incompatibleqosstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_incompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+IncompatibleQosStatus
+---------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::IncompatibleQosStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/inconsistenttopicstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
new file mode 100644
index 000000000..dd8d5d4cf
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_inconsistenttopicstatus:
+
+.. rst-class:: api-ref
+
+InconsistentTopicStatus
+-----------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::InconsistentTopicStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/livelinesschangedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/livelinesschangedstatus.rst
new file mode 100644
index 000000000..ef67a6dce
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/livelinesschangedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_livelinesschangedstatus:
+
+.. rst-class:: api-ref
+
+LivelinessChangedStatus
+-----------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::LivelinessChangedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/matchedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/matchedstatus.rst
new file mode 100644
index 000000000..b9ea310c5
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/matchedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_matchedstatus:
+
+.. rst-class:: api-ref
+
+MatchedStatus
+-------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::MatchedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
new file mode 100644
index 000000000..bf475332e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_offereddeadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+OfferedDeadlineMissedStatus
+---------------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::OfferedDeadlineMissedStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/offeredicompatibleqosstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/offeredicompatibleqosstatus.rst
new file mode 100644
index 000000000..f746ba266
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/offeredicompatibleqosstatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_offeredincompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+OfferedIncompatibleQosStatus
+----------------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::OfferedIncompatibleQosStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/publicationmatchedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/publicationmatchedstatus.rst
new file mode 100644
index 000000000..09abd4237
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/publicationmatchedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_publicationmatchedstatus:
+
+.. rst-class:: api-ref
+
+PublicationMatchedStatus
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::PublicationMatchedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/qospolicycount.rst b/docs/fastdds/api_reference/dds_pim/core/status/qospolicycount.rst
new file mode 100644
index 000000000..fc74e959c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/qospolicycount.rst
@@ -0,0 +1,10 @@
+.. _api_pim_qospolicycount:
+
+.. rst-class:: api-ref
+
+QosPolicyCount
+--------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::QosPolicyCount
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/qospolicycountseq.rst b/docs/fastdds/api_reference/dds_pim/core/status/qospolicycountseq.rst
new file mode 100644
index 000000000..5c23fac9c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/qospolicycountseq.rst
@@ -0,0 +1,9 @@
+.. _api_pim_qospolicycountseq:
+
+.. rst-class:: api-ref
+
+QosPolicyCountSeq
+-----------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::QosPolicyCountSeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
new file mode 100644
index 000000000..3c7d85530
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_requesteddeadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+RequestedDeadlineMissedStatus
+-----------------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::RequestedDeadlineMissedStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/requestedicompatibleqosstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/requestedicompatibleqosstatus.rst
new file mode 100644
index 000000000..17755802e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/requestedicompatibleqosstatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_requestedincompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+RequestedIncompatibleQosStatus
+------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::RequestedIncompatibleQosStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
new file mode 100644
index 000000000..128dae381
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_livelinessloststatus:
+
+.. rst-class:: api-ref
+
+LivelinessLostStatus
+--------------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::LivelinessLostStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/sampleloststatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/sampleloststatus.rst
new file mode 100644
index 000000000..29b68c59e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/sampleloststatus.rst
@@ -0,0 +1,9 @@
+.. _api_pim_sampleloststatus:
+
+.. rst-class:: api-ref
+
+SampleLostStatus
+----------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::SampleLostStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatus.rst
new file mode 100644
index 000000000..3130ef7f7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_samplerejectedstatus:
+
+.. rst-class:: api-ref
+
+SampleRejectedStatus
+--------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::SampleRejectedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatuskind.rst b/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
new file mode 100644
index 000000000..4acecc46c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
@@ -0,0 +1,9 @@
+.. _api_pim_samplerejectedstatuskind:
+
+.. rst-class:: api-ref
+
+SampleRejectedStatusKind
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::SampleRejectedStatusKind
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/status.rst b/docs/fastdds/api_reference/dds_pim/core/status/status.rst
new file mode 100644
index 000000000..584415520
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/status.rst
@@ -0,0 +1,25 @@
+Status
+======
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/core/status/basestatus.rst
+   /fastdds/api_reference/dds_pim/core/status/deadlinemissedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/incompatibleqosstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/livelinesschangedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/matchedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/offeredicompatibleqosstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/publicationmatchedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/qospolicycount.rst
+   /fastdds/api_reference/dds_pim/core/status/qospolicycountseq.rst
+   /fastdds/api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/requestedicompatibleqosstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
+   /fastdds/api_reference/dds_pim/core/status/sampleloststatus.rst
+   /fastdds/api_reference/dds_pim/core/status/samplerejectedstatus.rst
+   /fastdds/api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
+   /fastdds/api_reference/dds_pim/core/status/statusmask.rst
+   /fastdds/api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/statusmask.rst b/docs/fastdds/api_reference/dds_pim/core/status/statusmask.rst
new file mode 100644
index 000000000..aa9b37d65
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/statusmask.rst
@@ -0,0 +1,13 @@
+.. _api_pim_statusmask:
+
+.. rst-class:: api-ref
+
+StatusMask
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::StatusMask
+    :project: FastDDS
+    :members:
+
+.. doxygendefine:: FASTDDS_STATUS_COUNT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst b/docs/fastdds/api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
new file mode 100644
index 000000000..98c0fe6f7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
@@ -0,0 +1,10 @@
+.. _api_pim_subscriptionmatchedstatus:
+
+.. rst-class:: api-ref
+
+SubscriptionMatchedStatus
+-------------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::SubscriptionMatchedStatus
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/dds_pim.rst b/docs/fastdds/api_reference/dds_pim/dds_pim.rst
new file mode 100644
index 000000000..df8508221
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/dds_pim.rst
@@ -0,0 +1,17 @@
+.. _api_pim_dds_dcps_pim:
+
+DDS DCPS PIM
+============
+
+Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform Independent Model (PIM) API
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/core/core.rst
+   /fastdds/api_reference/dds_pim/domain/domain.rst
+   /fastdds/api_reference/dds_pim/publisher/publisher.rst
+   /fastdds/api_reference/dds_pim/subscriber/subscriber.rst
+   /fastdds/api_reference/dds_pim/topic/topic.rst
+   /fastdds/api_reference/dds_pim/xtypes/xtypes.rst
+   /fastdds/api_reference/dds_pim/rpc/rpc.rst
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domain.rst b/docs/fastdds/api_reference/dds_pim/domain/domain.rst
new file mode 100644
index 000000000..e1d382a24
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domain.rst
@@ -0,0 +1,12 @@
+Domain
+======
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/domain/domainparticipant.rst
+   /fastdds/api_reference/dds_pim/domain/domainparticipantfactory.rst
+   /fastdds/api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
+   /fastdds/api_reference/dds_pim/domain/domainparticipantlistener.rst
+   /fastdds/api_reference/dds_pim/domain/domainparticipantqos.rst
+   /fastdds/api_reference/dds_pim/domain/domainparticipantextendedqos.rst
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipant.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipant.rst
new file mode 100644
index 000000000..9d316409a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipant.rst
@@ -0,0 +1,10 @@
+.. _api_pim_domainparticipant:
+
+.. rst-class:: api-ref
+
+DomainParticipant
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipant
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipantextendedqos.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantextendedqos.rst
new file mode 100644
index 000000000..4cb0b6576
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantextendedqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_domainparticipantextendedqos:
+
+.. rst-class:: api-ref
+
+DomainParticipantExtendedQos
+----------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipantExtendedQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactory.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactory.rst
new file mode 100644
index 000000000..9bdf2b9e7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_domainparticipantfactory:
+
+.. rst-class:: api-ref
+
+DomainParticipantFactory
+------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipantFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactoryqos.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
new file mode 100644
index 000000000..31a9bc641
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_domainparticipantfactoryqos:
+
+.. rst-class:: api-ref
+
+DomainParticipantFactoryQos
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipantFactoryQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipantlistener.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantlistener.rst
new file mode 100644
index 000000000..ebc153b75
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantlistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_domainparticipantlistener:
+
+.. rst-class:: api-ref
+
+DomainParticipantListener
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipantListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/domain/domainparticipantqos.rst b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantqos.rst
new file mode 100644
index 000000000..34bfbbe90
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/domain/domainparticipantqos.rst
@@ -0,0 +1,13 @@
+.. _api_pim_domainparticipantqos:
+
+.. rst-class:: api-ref
+
+DomainParticipantQos
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DomainParticipantQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::PARTICIPANT_QOS_DEFAULT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/datawriter.rst b/docs/fastdds/api_reference/dds_pim/publisher/datawriter.rst
new file mode 100644
index 000000000..5c1e15036
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/datawriter.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datawriter:
+
+.. rst-class:: api-ref
+
+DataWriter
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataWriter
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/datawriterlistener.rst b/docs/fastdds/api_reference/dds_pim/publisher/datawriterlistener.rst
new file mode 100644
index 000000000..5324daf59
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/datawriterlistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datawriterlistener:
+
+.. rst-class:: api-ref
+
+DataWriterListener
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataWriterListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/datawriterqos.rst b/docs/fastdds/api_reference/dds_pim/publisher/datawriterqos.rst
new file mode 100644
index 000000000..4faad4809
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/datawriterqos.rst
@@ -0,0 +1,16 @@
+.. _api_pim_datawriterqos:
+
+.. rst-class:: api-ref
+
+DataWriterQos
+-------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataWriterQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::DATAWRITER_QOS_DEFAULT
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::DATAWRITER_QOS_USE_TOPIC_QOS
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/publisher.rst b/docs/fastdds/api_reference/dds_pim/publisher/publisher.rst
new file mode 100644
index 000000000..5b25891dc
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/publisher.rst
@@ -0,0 +1,13 @@
+Publisher
+=========
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/publisher/datawriter.rst
+   /fastdds/api_reference/dds_pim/publisher/datawriterlistener.rst
+   /fastdds/api_reference/dds_pim/publisher/datawriterqos.rst
+   /fastdds/api_reference/dds_pim/publisher/publisher_class.rst
+   /fastdds/api_reference/dds_pim/publisher/publisherlistener.rst
+   /fastdds/api_reference/dds_pim/publisher/publisherqos.rst
+   /fastdds/api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/publisher_class.rst b/docs/fastdds/api_reference/dds_pim/publisher/publisher_class.rst
new file mode 100644
index 000000000..778dc9088
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/publisher_class.rst
@@ -0,0 +1,10 @@
+.. _api_pim_publisher_class:
+
+.. rst-class:: api-ref
+
+Publisher
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::Publisher
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/publisherlistener.rst b/docs/fastdds/api_reference/dds_pim/publisher/publisherlistener.rst
new file mode 100644
index 000000000..7c431bc35
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/publisherlistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_publisherlistener:
+
+.. rst-class:: api-ref
+
+PublisherListener
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::PublisherListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/publisherqos.rst b/docs/fastdds/api_reference/dds_pim/publisher/publisherqos.rst
new file mode 100644
index 000000000..85c56a233
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/publisherqos.rst
@@ -0,0 +1,13 @@
+.. _api_pim_publisherqos:
+
+.. rst-class:: api-ref
+
+PublisherQos
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::PublisherQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::PUBLISHER_QOS_DEFAULT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst b/docs/fastdds/api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
new file mode 100644
index 000000000..fbd15bc30
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rtpsreliablewriterqos:
+
+.. rst-class:: api-ref
+
+RTPSReliableWriterQos
+---------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::RTPSReliableWriterQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteexceptioncode_t.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteexceptioncode_t.rst
new file mode 100644
index 000000000..a3c9dfe40
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteexceptioncode_t.rst
@@ -0,0 +1,9 @@
+.. _api_pim_remoteexceptioncode_t:
+
+.. rst-class:: api-ref
+
+RemoteExceptionCode_t
+---------------------
+
+.. doxygenenum:: eprosima::fastdds::dds::rpc::RemoteExceptionCode_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
new file mode 100644
index 000000000..6fbd3682f
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_remoteinvalidargumenterror:
+
+.. rst-class:: api-ref
+
+RemoteInvalidArgumentError
+--------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteInvalidArgumentError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
new file mode 100644
index 000000000..64f4d147e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_remoteoutofresourceserror:
+
+.. rst-class:: api-ref
+
+RemoteOutOfResourcesError
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteOutOfResourcesError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
new file mode 100644
index 000000000..f1d6f7a8f
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_remoteunknownexceptionerror:
+
+.. rst-class:: api-ref
+
+RemoteUnknownExceptionError
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnknownExceptionError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
new file mode 100644
index 000000000..fffa6c0a4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_remoteunknownoperationerror:
+
+.. rst-class:: api-ref
+
+RemoteUnknownOperationError
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnknownOperationError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
new file mode 100644
index 000000000..d7e535b63
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_remoteunsupportederror:
+
+.. rst-class:: api-ref
+
+RemoteUnsupportedError
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnsupportedError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/replier.rst b/docs/fastdds/api_reference/dds_pim/rpc/replier.rst
new file mode 100644
index 000000000..dde6acd5a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/replier.rst
@@ -0,0 +1,10 @@
+.. _api_pim_replier:
+
+.. rst-class:: api-ref
+
+Replier
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::Replier
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/replierqos.rst b/docs/fastdds/api_reference/dds_pim/rpc/replierqos.rst
new file mode 100644
index 000000000..416249e69
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/replierqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_replierqos:
+
+.. rst-class:: api-ref
+
+ReplierQos
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::ReplierQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/requester.rst b/docs/fastdds/api_reference/dds_pim/rpc/requester.rst
new file mode 100644
index 000000000..a953a44c9
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/requester.rst
@@ -0,0 +1,10 @@
+.. _api_pim_requester:
+
+.. rst-class:: api-ref
+
+Requester
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::Requester
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/requesterqos.rst b/docs/fastdds/api_reference/dds_pim/rpc/requesterqos.rst
new file mode 100644
index 000000000..dc5bec7b4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/requesterqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_requesterqos:
+
+.. rst-class:: api-ref
+
+RequesterQos
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::RequesterQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/requestinfo.rst b/docs/fastdds/api_reference/dds_pim/rpc/requestinfo.rst
new file mode 100644
index 000000000..d18af7b79
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/requestinfo.rst
@@ -0,0 +1,9 @@
+.. _api_pim_requestinfo:
+
+.. rst-class:: api-ref
+
+RequestInfo
+-----------
+
+.. doxygentypedef:: eprosima::fastdds::dds::rpc::RequestInfo
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst
new file mode 100644
index 000000000..7d22f6968
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst
@@ -0,0 +1,30 @@
+RPC over DDS
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/dds_pim/rpc/remoteexceptioncode_t.rst
+    /fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
+    /fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
+    /fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
+    /fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
+    /fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
+    /fastdds/api_reference/dds_pim/rpc/replier.rst
+    /fastdds/api_reference/dds_pim/rpc/replierqos.rst
+    /fastdds/api_reference/dds_pim/rpc/requester.rst
+    /fastdds/api_reference/dds_pim/rpc/requesterqos.rst
+    /fastdds/api_reference/dds_pim/rpc/requestinfo.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcentity.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcexception.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcserver.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
+    /fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
+    /fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
+    /fastdds/api_reference/dds_pim/rpc/service.rst
+    /fastdds/api_reference/dds_pim/rpc/servicetypesupport.rst
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
new file mode 100644
index 000000000..9ef95c338
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcbrokenpipeexception:
+
+.. rst-class:: api-ref
+
+RpcBrokenPipeException
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcBrokenPipeException
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcentity.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcentity.rst
new file mode 100644
index 000000000..6f95d8021
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcentity.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcentity:
+
+.. rst-class:: api-ref
+
+RPCEntity
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RPCEntity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst
new file mode 100644
index 000000000..ef46dcbb4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcexception:
+
+.. rst-class:: api-ref
+
+RpcException
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcException
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
new file mode 100644
index 000000000..c3563fff9
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcfeedcancelledexception:
+
+.. rst-class:: api-ref
+
+RpcFeedCancelledException
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcFeedCancelledException
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
new file mode 100644
index 000000000..651f10b59
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcoperationerror:
+
+.. rst-class:: api-ref
+
+RpcOperationError
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcOperationError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
new file mode 100644
index 000000000..57e0a0abd
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcremoteexception:
+
+.. rst-class:: api-ref
+
+RpcRemoteException
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcRemoteException
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
new file mode 100644
index 000000000..dc669ffb7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcrequest:
+
+.. rst-class:: api-ref
+
+RpcRequest
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcRequest
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst
new file mode 100644
index 000000000..08ccaf7a7
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcserver:
+
+.. rst-class:: api-ref
+
+RpcServer
+---------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcServer
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
new file mode 100644
index 000000000..4bc9ab546
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpcserverschedulingstrategy:
+
+.. rst-class:: api-ref
+
+RpcServerSchedulingStrategy
+---------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcServerSchedulingStrategy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
new file mode 100644
index 000000000..bffebf72a
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
@@ -0,0 +1,9 @@
+.. _api_pim_rpcstatuscode:
+
+.. rst-class:: api-ref
+
+RpcStatusCode
+-------------
+
+.. doxygentypedef:: eprosima::fastdds::dds::rpc::RpcStatusCode
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
new file mode 100644
index 000000000..8431a696e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rpctimeoutexception:
+
+.. rst-class:: api-ref
+
+RpcTimeoutException
+-------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcTimeoutException
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/service.rst b/docs/fastdds/api_reference/dds_pim/rpc/service.rst
new file mode 100644
index 000000000..41b17821c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/service.rst
@@ -0,0 +1,10 @@
+.. _api_pim_service:
+
+.. rst-class:: api-ref
+
+Service
+-------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::Service
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/servicetypesupport.rst b/docs/fastdds/api_reference/dds_pim/rpc/servicetypesupport.rst
new file mode 100644
index 000000000..ec47da8df
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/rpc/servicetypesupport.rst
@@ -0,0 +1,10 @@
+.. _api_pim_servicetypesupport:
+
+.. rst-class:: api-ref
+
+ServiceTypeSupport
+-------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::rpc::ServiceTypeSupport
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/datareader.rst b/docs/fastdds/api_reference/dds_pim/subscriber/datareader.rst
new file mode 100644
index 000000000..f0f03e535
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/datareader.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datareader:
+
+.. rst-class:: api-ref
+
+DataReader
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataReader
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/datareaderlistener.rst b/docs/fastdds/api_reference/dds_pim/subscriber/datareaderlistener.rst
new file mode 100644
index 000000000..45df0c5cd
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/datareaderlistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_datareaderlistener:
+
+.. rst-class:: api-ref
+
+DataReaderListener
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataReaderListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/datareaderqos.rst b/docs/fastdds/api_reference/dds_pim/subscriber/datareaderqos.rst
new file mode 100644
index 000000000..e936f4d92
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/datareaderqos.rst
@@ -0,0 +1,16 @@
+.. _api_pim_datareaderqos:
+
+.. rst-class:: api-ref
+
+DataReaderQos
+-------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DataReaderQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::DATAREADER_QOS_DEFAULT
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::dds::DATAREADER_QOS_USE_TOPIC_QOS
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/instancestatekind.rst b/docs/fastdds/api_reference/dds_pim/subscriber/instancestatekind.rst
new file mode 100644
index 000000000..90e0591c4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/instancestatekind.rst
@@ -0,0 +1,9 @@
+.. _api_pim_instancestatekind:
+
+.. rst-class:: api-ref
+
+InstanceStateKind
+-----------------
+
+.. doxygenenum:: eprosima::fastdds::dds::InstanceStateKind
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/readcondition.rst b/docs/fastdds/api_reference/dds_pim/subscriber/readcondition.rst
new file mode 100644
index 000000000..d19049cd2
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/readcondition.rst
@@ -0,0 +1,10 @@
+.. _api_pim_readcondition:
+
+.. rst-class:: api-ref
+
+ReadCondition
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ReadCondition
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst b/docs/fastdds/api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
new file mode 100644
index 000000000..617d1faf4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_readerresourcelimitsqos:
+
+.. rst-class:: api-ref
+
+ReaderResourceLimitsQos
+-----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ReaderResourceLimitsQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst b/docs/fastdds/api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
new file mode 100644
index 000000000..923ee9ac9
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
@@ -0,0 +1,10 @@
+.. _api_pim_rtpsreliablereaderqos:
+
+.. rst-class:: api-ref
+
+RTPSReliableReaderQos
+---------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::RTPSReliableReaderQos
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/sampleinfo.rst b/docs/fastdds/api_reference/dds_pim/subscriber/sampleinfo.rst
new file mode 100644
index 000000000..c1ccf9813
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/sampleinfo.rst
@@ -0,0 +1,10 @@
+.. _api_pim_sampleinfo:
+
+.. rst-class:: api-ref
+
+SampleInfo
+----------
+
+.. doxygenstruct:: eprosima::fastdds::dds::SampleInfo
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/samplestatekind.rst b/docs/fastdds/api_reference/dds_pim/subscriber/samplestatekind.rst
new file mode 100644
index 000000000..8480ce1e4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/samplestatekind.rst
@@ -0,0 +1,9 @@
+.. _api_pim_samplestatekind:
+
+.. rst-class:: api-ref
+
+SampleStateKind
+---------------
+
+.. doxygenenum:: eprosima::fastdds::dds::SampleStateKind
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/subscriber.rst b/docs/fastdds/api_reference/dds_pim/subscriber/subscriber.rst
new file mode 100644
index 000000000..03378078d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/subscriber.rst
@@ -0,0 +1,19 @@
+Subscriber
+==========
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/subscriber/datareader.rst
+   /fastdds/api_reference/dds_pim/subscriber/datareaderlistener.rst
+   /fastdds/api_reference/dds_pim/subscriber/datareaderqos.rst
+   /fastdds/api_reference/dds_pim/subscriber/instancestatekind.rst
+   /fastdds/api_reference/dds_pim/subscriber/readcondition.rst
+   /fastdds/api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
+   /fastdds/api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
+   /fastdds/api_reference/dds_pim/subscriber/sampleinfo.rst
+   /fastdds/api_reference/dds_pim/subscriber/samplestatekind.rst
+   /fastdds/api_reference/dds_pim/subscriber/subscriber_class.rst
+   /fastdds/api_reference/dds_pim/subscriber/subscriberlistener.rst
+   /fastdds/api_reference/dds_pim/subscriber/subscriberqos.rst
+   /fastdds/api_reference/dds_pim/subscriber/viewstatekind.rst
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/subscriber_class.rst b/docs/fastdds/api_reference/dds_pim/subscriber/subscriber_class.rst
new file mode 100644
index 000000000..d186b3525
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/subscriber_class.rst
@@ -0,0 +1,10 @@
+.. _api_pim_subscriber_class:
+
+.. rst-class:: api-ref
+
+Subscriber
+----------
+
+.. doxygenclass:: eprosima::fastdds::dds::Subscriber
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/subscriberlistener.rst b/docs/fastdds/api_reference/dds_pim/subscriber/subscriberlistener.rst
new file mode 100644
index 000000000..b18b075c8
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/subscriberlistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_subscriberlistener:
+
+.. rst-class:: api-ref
+
+SubscriberListener
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::SubscriberListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/subscriberqos.rst b/docs/fastdds/api_reference/dds_pim/subscriber/subscriberqos.rst
new file mode 100644
index 000000000..571ca40b1
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/subscriberqos.rst
@@ -0,0 +1,13 @@
+.. _api_pim_subscriberqos:
+
+.. rst-class:: api-ref
+
+SubscriberQos
+-------------
+
+.. doxygenclass:: eprosima::fastdds::dds::SubscriberQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::SUBSCRIBER_QOS_DEFAULT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/subscriber/viewstatekind.rst b/docs/fastdds/api_reference/dds_pim/subscriber/viewstatekind.rst
new file mode 100644
index 000000000..34d231b25
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/subscriber/viewstatekind.rst
@@ -0,0 +1,9 @@
+.. _api_pim_viewstatekind:
+
+.. rst-class:: api-ref
+
+ViewStateKind
+-------------
+
+.. doxygenenum:: eprosima::fastdds::dds::ViewStateKind
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/topic/contentfilteredtopic.rst b/docs/fastdds/api_reference/dds_pim/topic/contentfilteredtopic.rst
new file mode 100644
index 000000000..6cf03965e
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/contentfilteredtopic.rst
@@ -0,0 +1,13 @@
+.. _api_pim_contentfilteredtopic:
+
+.. rst-class:: api-ref
+
+ContentFilteredTopic
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::ContentFilteredTopic
+    :project: FastDDS
+    :members:
+
+.. doxygendefine:: FASTDDS_SQLFILTER_NAME
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/topic/icontentfilter.rst b/docs/fastdds/api_reference/dds_pim/topic/icontentfilter.rst
new file mode 100644
index 000000000..057f08c88
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/icontentfilter.rst
@@ -0,0 +1,10 @@
+.. _api_pim_icontentfilter:
+
+.. rst-class:: api-ref
+
+IContentFilter
+--------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::IContentFilter
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/icontentfilterfactory.rst b/docs/fastdds/api_reference/dds_pim/topic/icontentfilterfactory.rst
new file mode 100644
index 000000000..925c3c714
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/icontentfilterfactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_icontentfilterfactory:
+
+.. rst-class:: api-ref
+
+IContentFilterFactory
+---------------------
+
+.. doxygenstruct:: eprosima::fastdds::dds::IContentFilterFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topic.rst b/docs/fastdds/api_reference/dds_pim/topic/topic.rst
new file mode 100644
index 000000000..e3eb2bb10
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topic.rst
@@ -0,0 +1,16 @@
+Topic
+=====
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/topic/topicdatatype.rst
+   /fastdds/api_reference/dds_pim/topic/typesupport.rst
+   /fastdds/api_reference/dds_pim/topic/topicdescription.rst
+   /fastdds/api_reference/dds_pim/topic/topic_class.rst
+   /fastdds/api_reference/dds_pim/topic/contentfilteredtopic.rst
+   /fastdds/api_reference/dds_pim/topic/icontentfilter.rst
+   /fastdds/api_reference/dds_pim/topic/icontentfilterfactory.rst
+   /fastdds/api_reference/dds_pim/topic/topiclistener.rst
+   /fastdds/api_reference/dds_pim/topic/topicqos.rst
+   /fastdds/api_reference/dds_pim/topic/typeinformation.rst
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topic_class.rst b/docs/fastdds/api_reference/dds_pim/topic/topic_class.rst
new file mode 100644
index 000000000..4d219047c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topic_class.rst
@@ -0,0 +1,10 @@
+.. _api_pim_topic_class:
+
+.. rst-class:: api-ref
+
+Topic
+-----
+
+.. doxygenclass:: eprosima::fastdds::dds::Topic
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topicdatatype.rst b/docs/fastdds/api_reference/dds_pim/topic/topicdatatype.rst
new file mode 100644
index 000000000..d6fca6cb6
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topicdatatype.rst
@@ -0,0 +1,10 @@
+.. _api_pim_topicdatatype:
+
+.. rst-class:: api-ref
+
+TopicDataType
+-------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TopicDataType
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topicdescription.rst b/docs/fastdds/api_reference/dds_pim/topic/topicdescription.rst
new file mode 100644
index 000000000..c452a63fb
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topicdescription.rst
@@ -0,0 +1,10 @@
+.. _api_pim_topicdescription:
+
+.. rst-class:: api-ref
+
+TopicDescription
+----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TopicDescription
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topiclistener.rst b/docs/fastdds/api_reference/dds_pim/topic/topiclistener.rst
new file mode 100644
index 000000000..f863173fe
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topiclistener.rst
@@ -0,0 +1,10 @@
+.. _api_pim_topiclistener:
+
+.. rst-class:: api-ref
+
+TopicListener
+-------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TopicListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/topicqos.rst b/docs/fastdds/api_reference/dds_pim/topic/topicqos.rst
new file mode 100644
index 000000000..ac8e6d48d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/topicqos.rst
@@ -0,0 +1,13 @@
+.. _api_pim_topicqos:
+
+.. rst-class:: api-ref
+
+TopicQos
+--------
+
+.. doxygenclass:: eprosima::fastdds::dds::TopicQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::dds::TOPIC_QOS_DEFAULT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst b/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst
new file mode 100644
index 000000000..6abd01d44
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/typeinformation.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeinformationparameter:
+
+.. rst-class:: api-ref
+
+TypeInformationParameter
+------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::TypeInformationParameter
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/topic/typesupport.rst b/docs/fastdds/api_reference/dds_pim/topic/typesupport.rst
new file mode 100644
index 000000000..8cede82b6
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/topic/typesupport.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typesupport:
+
+.. rst-class:: api-ref
+
+TypeSupport
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::TypeSupport
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
new file mode 100644
index 000000000..64f66e71f
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_annotationdescriptor:
+
+.. rst-class:: api-ref
+
+AnnotationDescriptor
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::AnnotationDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
new file mode 100644
index 000000000..e6e1c4009
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
@@ -0,0 +1,19 @@
+.. _dynamic_language_binding_api:
+
+Dynamic Language Binding
+========================
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/xtypes/annotationdescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
+   /fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
+   /fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
+   /fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
new file mode 100644
index 000000000..64d3d702c
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdata.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicdata:
+
+.. rst-class:: api-ref
+
+DynamicData
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicData
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
new file mode 100644
index 000000000..e0408be62
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicdatafactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicdatafactory:
+
+.. rst-class:: api-ref
+
+DynamicDataFactory
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicDataFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
new file mode 100644
index 000000000..5ebf38037
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamicpubsubtype.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamicpubsubtype:
+
+.. rst-class:: api-ref
+
+DynamicPubSubType
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicPubSubType
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
new file mode 100644
index 000000000..e3d2372fe
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictype.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictype:
+
+.. rst-class:: api-ref
+
+DynamicType
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicType
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
new file mode 100644
index 000000000..15a1e81f8
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilder.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypebuilder:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilder
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeBuilder
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
new file mode 100644
index 000000000..6154157ab
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypebuilderfactory.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypebuilderfactory:
+
+.. rst-class:: api-ref
+
+DynamicTypeBuilderFactory
+-------------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeBuilderFactory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
new file mode 100644
index 000000000..8420d99d4
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/dynamictypemember.rst
@@ -0,0 +1,10 @@
+.. _api_pim_dynamictypemember:
+
+.. rst-class:: api-ref
+
+DynamicTypeMember
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::DynamicTypeMember
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst b/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst
new file mode 100644
index 000000000..a34d10c67
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/exception.rst
@@ -0,0 +1,10 @@
+.. _api_pim_xtypes_exception:
+
+.. rst-class:: api-ref
+
+InvalidArgumentError
+--------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::InvalidArgumentError
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
new file mode 100644
index 000000000..fb3f00386
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/memberdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_memberdescriptor:
+
+.. rst-class:: api-ref
+
+MemberDescriptor
+----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::MemberDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst b/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst
new file mode 100644
index 000000000..b81a99066
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/type_representation.rst
@@ -0,0 +1,8 @@
+Type Representation
+===================
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
+   /fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
new file mode 100644
index 000000000..f50a520b5
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typedescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typedescriptor:
+
+.. rst-class:: api-ref
+
+TypeDescriptor
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::TypeDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
new file mode 100644
index 000000000..dd1524712
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectregistry.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeobjectregistry:
+
+.. rst-class:: api-ref
+
+TypeObjectRegistry
+------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::ITypeObjectRegistry
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
new file mode 100644
index 000000000..abae4cbe1
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/typeobjectutils.rst
@@ -0,0 +1,10 @@
+.. _api_pim_typeobjectutils:
+
+.. rst-class:: api-ref
+
+TypeObjectUtils
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::xtypes::TypeObjectUtils
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/utils.rst b/docs/fastdds/api_reference/dds_pim/xtypes/utils.rst
new file mode 100644
index 000000000..d0a613a2d
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/utils.rst
@@ -0,0 +1,12 @@
+.. _api_pim_xtypes_utils:
+
+.. rst-class:: api-ref
+
+Utils
+-----
+
+.. doxygenfunction:: eprosima::fastdds::dds::idl_serialize
+   :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::dds::json_serialize
+   :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst b/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
new file mode 100644
index 000000000..711a590bd
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/verbatimtextdescriptor.rst
@@ -0,0 +1,10 @@
+.. _api_pim_verbatimtextdescriptor:
+
+.. rst-class:: api-ref
+
+VerbatimTextDescriptor
+----------------------
+
+.. doxygenclass:: eprosima::fastdds::dds::VerbatimTextDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst b/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst
new file mode 100644
index 000000000..e5ad473a8
--- /dev/null
+++ b/docs/fastdds/api_reference/dds_pim/xtypes/xtypes.rst
@@ -0,0 +1,10 @@
+XTypes
+======
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/dds_pim/xtypes/dynamic_types.rst
+   /fastdds/api_reference/dds_pim/xtypes/exception.rst
+   /fastdds/api_reference/dds_pim/xtypes/type_representation.rst
+   /fastdds/api_reference/dds_pim/xtypes/utils.rst
diff --git a/docs/fastdds/api_reference/rtps/Endpoint.rst b/docs/fastdds/api_reference/rtps/Endpoint.rst
new file mode 100644
index 000000000..76d15e7a5
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/Endpoint.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+Endpoint
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::Endpoint
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/RTPSDomain.rst b/docs/fastdds/api_reference/rtps/RTPSDomain.rst
new file mode 100644
index 000000000..69ebc66d1
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/RTPSDomain.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSDomain
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSDomain
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/BuiltinAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/BuiltinAttributes.rst
new file mode 100644
index 000000000..22f2cf3ca
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/BuiltinAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+BuiltinAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::BuiltinAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/DiscoveryProtocol.rst b/docs/fastdds/api_reference/rtps/attributes/DiscoveryProtocol.rst
new file mode 100644
index 000000000..3ed57b025
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/DiscoveryProtocol.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+DiscoveryProtocol
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::DiscoveryProtocol
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/attributes/DiscoverySettings.rst b/docs/fastdds/api_reference/rtps/attributes/DiscoverySettings.rst
new file mode 100644
index 000000000..7ddf866af
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/DiscoverySettings.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+DiscoverySettings
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::DiscoverySettings
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/EndpointAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/EndpointAttributes.rst
new file mode 100644
index 000000000..2ff2d913b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/EndpointAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+EndpointAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::EndpointAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/ExternalLocators.rst b/docs/fastdds/api_reference/rtps/attributes/ExternalLocators.rst
new file mode 100644
index 000000000..fa744cc1e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/ExternalLocators.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ExternalLocators
+----------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::ExternalLocators
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/attributes/HistoryAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/HistoryAttributes.rst
new file mode 100644
index 000000000..db58f6261
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/HistoryAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+HistoryAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::HistoryAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/InitialAnnouncementConfig.rst b/docs/fastdds/api_reference/rtps/attributes/InitialAnnouncementConfig.rst
new file mode 100644
index 000000000..b2badf8c3
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/InitialAnnouncementConfig.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+InitialAnnouncementConfig
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::InitialAnnouncementConfig
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/ParticipantFilteringFlags.rst b/docs/fastdds/api_reference/rtps/attributes/ParticipantFilteringFlags.rst
new file mode 100644
index 000000000..bfee232a5
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/ParticipantFilteringFlags.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ParticipantFilteringFlags
+-----------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::ParticipantFilteringFlags
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/attributes/PropertyPolicy.rst b/docs/fastdds/api_reference/rtps/attributes/PropertyPolicy.rst
new file mode 100644
index 000000000..4e986b17c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/PropertyPolicy.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+PropertyPolicy
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::PropertyPolicy
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/PropertyPolicyHelper.rst b/docs/fastdds/api_reference/rtps/attributes/PropertyPolicyHelper.rst
new file mode 100644
index 000000000..c582b7be7
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/PropertyPolicyHelper.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+PropertyPolicyHelper
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::PropertyPolicyHelper
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAllocationAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAllocationAttributes.rst
new file mode 100644
index 000000000..03522629d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAllocationAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSParticipantAllocationAttributes
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::RTPSParticipantAllocationAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAttributes.rst
new file mode 100644
index 000000000..d94eb917b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/RTPSParticipantAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSParticipantAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSParticipantAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/RTPSWriterPublishMode.rst b/docs/fastdds/api_reference/rtps/attributes/RTPSWriterPublishMode.rst
new file mode 100644
index 000000000..479900abd
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/RTPSWriterPublishMode.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+RTPSWriterPublishMode
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::RTPSWriterPublishMode
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/attributes/ReaderAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/ReaderAttributes.rst
new file mode 100644
index 000000000..48c58a529
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/ReaderAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ReaderAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ReaderAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/ReaderTimes.rst b/docs/fastdds/api_reference/rtps/attributes/ReaderTimes.rst
new file mode 100644
index 000000000..892f30923
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/ReaderTimes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ReaderTimes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ReaderTimes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/RemoteLocatorsAllocationAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/RemoteLocatorsAllocationAttributes.rst
new file mode 100644
index 000000000..d202f2492
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/RemoteLocatorsAllocationAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RemoteLocatorsAllocationAttributes
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::RemoteLocatorsAllocationAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/SendBuffersAllocationAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/SendBuffersAllocationAttributes.rst
new file mode 100644
index 000000000..b4e75641d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/SendBuffersAllocationAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SendBuffersAllocationAttributes
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SendBuffersAllocationAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/SimpleEDPAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/SimpleEDPAttributes.rst
new file mode 100644
index 000000000..9eccb2e00
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/SimpleEDPAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SimpleEDPAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::SimpleEDPAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/ThreadSettings.rst b/docs/fastdds/api_reference/rtps/attributes/ThreadSettings.rst
new file mode 100644
index 000000000..1ad88e953
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/ThreadSettings.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ThreadSettings
+--------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ThreadSettings
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/VariableLengthDataLimits.rst b/docs/fastdds/api_reference/rtps/attributes/VariableLengthDataLimits.rst
new file mode 100644
index 000000000..5ad675a67
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/VariableLengthDataLimits.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+VariableLengthDataLimits
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::VariableLengthDataLimits
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/WriterAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/WriterAttributes.rst
new file mode 100644
index 000000000..dd457aa58
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/WriterAttributes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+WriterAttributes
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::WriterAttributes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/WriterTimes.rst b/docs/fastdds/api_reference/rtps/attributes/WriterTimes.rst
new file mode 100644
index 000000000..c79e21182
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/WriterTimes.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+WriterTimes
+------------------------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::WriterTimes
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/attributes/attributes.rst b/docs/fastdds/api_reference/rtps/attributes/attributes.rst
new file mode 100644
index 000000000..ed74309dd
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/attributes.rst
@@ -0,0 +1,31 @@
+.. _api_rtps_attributes:
+
+Attributes
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/attributes/BuiltinAttributes
+    /fastdds/api_reference/rtps/attributes/c_default_RTPSParticipantAllocationAttributes
+    /fastdds/api_reference/rtps/attributes/DiscoveryProtocol
+    /fastdds/api_reference/rtps/attributes/DiscoverySettings
+    /fastdds/api_reference/rtps/attributes/EndpointAttributes
+    /fastdds/api_reference/rtps/attributes/ExternalLocators
+    /fastdds/api_reference/rtps/attributes/HistoryAttributes
+    /fastdds/api_reference/rtps/attributes/InitialAnnouncementConfig
+    /fastdds/api_reference/rtps/attributes/ParticipantFilteringFlags
+    /fastdds/api_reference/rtps/attributes/PropertyPolicy
+    /fastdds/api_reference/rtps/attributes/PropertyPolicyHelper
+    /fastdds/api_reference/rtps/attributes/ReaderAttributes
+    /fastdds/api_reference/rtps/attributes/ReaderTimes
+    /fastdds/api_reference/rtps/attributes/RemoteLocatorsAllocationAttributes
+    /fastdds/api_reference/rtps/attributes/RTPSParticipantAllocationAttributes
+    /fastdds/api_reference/rtps/attributes/RTPSParticipantAttributes
+    /fastdds/api_reference/rtps/attributes/RTPSWriterPublishMode
+    /fastdds/api_reference/rtps/attributes/SendBuffersAllocationAttributes
+    /fastdds/api_reference/rtps/attributes/SimpleEDPAttributes
+    /fastdds/api_reference/rtps/attributes/ThreadSettings
+    /fastdds/api_reference/rtps/attributes/VariableLengthDataLimits
+    /fastdds/api_reference/rtps/attributes/WriterAttributes
+    /fastdds/api_reference/rtps/attributes/WriterTimes
diff --git a/docs/fastdds/api_reference/rtps/attributes/c_default_RTPSParticipantAllocationAttributes.rst b/docs/fastdds/api_reference/rtps/attributes/c_default_RTPSParticipantAllocationAttributes.rst
new file mode 100644
index 000000000..55741244e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/attributes/c_default_RTPSParticipantAllocationAttributes.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+c_default_RTPSParticipantAllocationAttributes
+----------------------------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_default_RTPSParticipantAllocationAttributes
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/builtin/data/ContentFilterProperty.rst b/docs/fastdds/api_reference/rtps/builtin/data/ContentFilterProperty.rst
new file mode 100644
index 000000000..b97d5406f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/builtin/data/ContentFilterProperty.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ContentFilterProperty
+---------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ContentFilterProperty
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData.rst b/docs/fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData.rst
new file mode 100644
index 000000000..45cc918eb
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_builtin_data_participantbuiltintopicdata:
+
+.. rst-class:: api-ref
+
+ParticipantBuiltinTopicData
+---------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ParticipantBuiltinTopicData
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/builtin/data/PublicationBuiltinTopicData.rst b/docs/fastdds/api_reference/rtps/builtin/data/PublicationBuiltinTopicData.rst
new file mode 100644
index 000000000..01dec38b6
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/builtin/data/PublicationBuiltinTopicData.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_builtin_data_publicationbuiltintopicdata:
+
+.. rst-class:: api-ref
+
+PublicationBuiltinTopicData
+---------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::PublicationBuiltinTopicData
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/builtin/data/SubscriptionBuiltinTopicData.rst b/docs/fastdds/api_reference/rtps/builtin/data/SubscriptionBuiltinTopicData.rst
new file mode 100644
index 000000000..156b5d597
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/builtin/data/SubscriptionBuiltinTopicData.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_builtin_data_subscriptionbuiltintopicdata:
+
+.. rst-class:: api-ref
+
+SubscriptionBuiltinTopicData
+----------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SubscriptionBuiltinTopicData
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/builtin/data/data.rst b/docs/fastdds/api_reference/rtps/builtin/data/data.rst
new file mode 100644
index 000000000..a9287ac12
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/builtin/data/data.rst
@@ -0,0 +1,12 @@
+.. _api_rtps_builtin_data:
+
+Builtin data
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/builtin/data/ContentFilterProperty
+    /fastdds/api_reference/rtps/builtin/data/ParticipantBuiltinTopicData
+    /fastdds/api_reference/rtps/builtin/data/PublicationBuiltinTopicData
+    /fastdds/api_reference/rtps/builtin/data/SubscriptionBuiltinTopicData
diff --git a/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryProperty.rst b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryProperty.rst
new file mode 100644
index 000000000..b84506619
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryProperty.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+BinaryProperty
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::BinaryProperty
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertyHelper.rst b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertyHelper.rst
new file mode 100644
index 000000000..d06c9f35f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertyHelper.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+BinaryPropertyHelper
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::BinaryPropertyHelper
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertySeq.rst b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertySeq.rst
new file mode 100644
index 000000000..028a3e857
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertySeq.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+BinaryPropertySeq
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::BinaryPropertySeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/BinaryProperty/binaryproperty_toc.rst b/docs/fastdds/api_reference/rtps/common/BinaryProperty/binaryproperty_toc.rst
new file mode 100644
index 000000000..bbb8f647b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/BinaryProperty/binaryproperty_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_binaryproperty:
+
+BinaryProperty
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/BinaryProperty/BinaryProperty
+    /fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertyHelper
+    /fastdds/api_reference/rtps/common/BinaryProperty/BinaryPropertySeq
diff --git a/docs/fastdds/api_reference/rtps/common/CDRMessage_t/CDRMessage_t.rst b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/CDRMessage_t.rst
new file mode 100644
index 000000000..f6e16562b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/CDRMessage_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+CDRMessage_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::CDRMessage_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/CDRMessage_t/cdrmessage_toc.rst b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/cdrmessage_toc.rst
new file mode 100644
index 000000000..619724593
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/cdrmessage_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_cdrmessage:
+
+CDRMessage
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/CDRMessage_t/CDRMessage_t
+    /fastdds/api_reference/rtps/common/CDRMessage_t/defines
diff --git a/docs/fastdds/api_reference/rtps/common/CDRMessage_t/defines.rst b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/defines.rst
new file mode 100644
index 000000000..16c105193
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CDRMessage_t/defines.rst
@@ -0,0 +1,34 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: RTPSMESSAGE_DEFAULT_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_COMMON_RTPS_PAYLOAD_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_COMMON_DATA_PAYLOAD_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_HEADER_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_SUBMESSAGEHEADER_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_DATA_EXTRA_INLINEQOS_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_INFOTS_SIZE
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_OCTETSTOINLINEQOS_DATASUBMSG
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_OCTETSTOINLINEQOS_DATAFRAGSUBMSG
+    :project: FastDDS
+
+.. doxygendefine:: RTPSMESSAGE_DATA_MIN_LENGTH
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/CDRSerialization/CDRSerialization.rst b/docs/fastdds/api_reference/rtps/common/CDRSerialization/CDRSerialization.rst
new file mode 100644
index 000000000..e3d1013e0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CDRSerialization/CDRSerialization.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+CDRSerialization
+----------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::DEFAULT_XCDR_VERSION
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/CacheChange/CacheChange_t.rst b/docs/fastdds/api_reference/rtps/common/CacheChange/CacheChange_t.rst
new file mode 100644
index 000000000..bfc2286d1
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CacheChange/CacheChange_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+CacheChange_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::CacheChange_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/CacheChange/ChangeKind_t.rst b/docs/fastdds/api_reference/rtps/common/CacheChange/ChangeKind_t.rst
new file mode 100644
index 000000000..3fb6a166f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CacheChange/ChangeKind_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ChangeKind_t
+------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::ChangeKind_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/CacheChange/cachechange_toc.rst b/docs/fastdds/api_reference/rtps/common/CacheChange/cachechange_toc.rst
new file mode 100644
index 000000000..03c847010
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/CacheChange/cachechange_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_cachechange:
+
+CacheChange
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/CacheChange/CacheChange_t
+    /fastdds/api_reference/rtps/common/CacheChange/ChangeKind_t
diff --git a/docs/fastdds/api_reference/rtps/common/EntityId_t/EntityId_t.rst b/docs/fastdds/api_reference/rtps/common/EntityId_t/EntityId_t.rst
new file mode 100644
index 000000000..8fddaa531
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/EntityId_t/EntityId_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+EntityId_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::EntityId_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/EntityId_t/const_values.rst b/docs/fastdds/api_reference/rtps/common/EntityId_t/const_values.rst
new file mode 100644
index 000000000..eea2654d4
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/EntityId_t/const_values.rst
@@ -0,0 +1,77 @@
+.. rst-class:: api-ref
+
+Const values
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_Unknown
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SPDPReader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SPDPWriter
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SEDPPubWriter
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SEDPPubReader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SEDPSubWriter
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_SEDPSubReader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_RTPSParticipant
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_WriterLiveliness
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_ReaderLiveliness
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::participant_stateless_message_writer_entity_id
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::participant_stateless_message_reader_entity_id
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_TypeLookup_request_writer
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_TypeLookup_request_reader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_TypeLookup_reply_writer
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_TypeLookup_reply_reader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::sedp_builtin_publications_secure_writer
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::sedp_builtin_publications_secure_reader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::sedp_builtin_subscriptions_secure_writer
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::sedp_builtin_subscriptions_secure_reader
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::participant_volatile_message_secure_writer_entity_id
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::participant_volatile_message_secure_reader_entity_id
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_WriterLivelinessSecure
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_EntityId_ReaderLivelinessSecure
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/EntityId_t/defines.rst b/docs/fastdds/api_reference/rtps/common/EntityId_t/defines.rst
new file mode 100644
index 000000000..4ff38bf4b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/EntityId_t/defines.rst
@@ -0,0 +1,89 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: ENTITYID_UNKNOWN
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_RTPSParticipant
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_TOPIC_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_TOPIC_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_PUBLICATIONS_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_PUBLICATIONS_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SPDP_BUILTIN_RTPSParticipant_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SPDP_BUILTIN_RTPSParticipant_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_RTPSParticipant_MESSAGE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_RTPSParticipant_MESSAGE_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_STATELESS_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_STATELESS_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_TL_SVC_REQ_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_TL_SVC_REQ_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_TL_SVC_REPLY_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_TL_SVC_REPLY_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_PUBLICATIONS_SECURE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_PUBLICATIONS_SECURE_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_SECURE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SEDP_BUILTIN_SUBSCRIPTIONS_SECURE_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_SECURE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_MESSAGE_SECURE_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_VOLATILE_MESSAGE_SECURE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_P2P_BUILTIN_PARTICIPANT_VOLATILE_MESSAGE_SECURE_READER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SPDP_RELIABLE_BUILTIN_PARTICIPANT_SECURE_WRITER
+    :project: FastDDS
+
+.. doxygendefine:: ENTITYID_SPDP_RELIABLE_BUILTIN_PARTICIPANT_SECURE_READER
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/EntityId_t/entityid_toc.rst b/docs/fastdds/api_reference/rtps/common/EntityId_t/entityid_toc.rst
new file mode 100644
index 000000000..f05374b03
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/EntityId_t/entityid_toc.rst
@@ -0,0 +1,12 @@
+.. _api_rtps_common_entityid:
+
+EntityId
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/EntityId_t/const_values
+    /fastdds/api_reference/rtps/common/EntityId_t/defines
+    /fastdds/api_reference/rtps/common/EntityId_t/EntityId_t
+    /fastdds/api_reference/rtps/common/EntityId_t/operators
diff --git a/docs/fastdds/api_reference/rtps/common/EntityId_t/operators.rst b/docs/fastdds/api_reference/rtps/common/EntityId_t/operators.rst
new file mode 100644
index 000000000..ffeb6a9c4
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/EntityId_t/operators.rst
@@ -0,0 +1,20 @@
+.. rst-class:: api-ref
+
+EntityId_t Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(EntityId_t &id1, const uint32_t id2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const EntityId_t &id1, const EntityId_t &id2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const EntityId_t &id1, const EntityId_t &id2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const EntityId_t &enI)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, EntityId_t &enP)
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumberSet_t.rst b/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumberSet_t.rst
new file mode 100644
index 000000000..be5a273b9
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumberSet_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+FragmentNumberSet_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::FragmentNumberSet_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumber_t.rst b/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumber_t.rst
new file mode 100644
index 000000000..4718526b0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumber_t.rst
@@ -0,0 +1,10 @@
+.. rst-class:: api-ref
+
+FragmentNumber_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::FragmentNumber_t
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const FragmentNumberSet_t &fns)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/FragmentNumber/fragmentnumber_toc.rst b/docs/fastdds/api_reference/rtps/common/FragmentNumber/fragmentnumber_toc.rst
new file mode 100644
index 000000000..6b1430849
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/FragmentNumber/fragmentnumber_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_fragmentnumber:
+
+FragmentNumber
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumber_t
+    /fastdds/api_reference/rtps/common/FragmentNumber/FragmentNumberSet_t
diff --git a/docs/fastdds/api_reference/rtps/common/Guid/GUID_t.rst b/docs/fastdds/api_reference/rtps/common/Guid/GUID_t.rst
new file mode 100644
index 000000000..b4c8e45a7
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Guid/GUID_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+GUID_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::GUID_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Guid/c_Guid_Unknown.rst b/docs/fastdds/api_reference/rtps/common/Guid/c_Guid_Unknown.rst
new file mode 100644
index 000000000..366e96dab
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Guid/c_Guid_Unknown.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+c_Guid_Unknown
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_Guid_Unknown
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Guid/guid_toc.rst b/docs/fastdds/api_reference/rtps/common/Guid/guid_toc.rst
new file mode 100644
index 000000000..59330e527
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Guid/guid_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_guid:
+
+Guid
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Guid/c_Guid_Unknown
+    /fastdds/api_reference/rtps/common/Guid/GUID_t
+    /fastdds/api_reference/rtps/common/Guid/operators
diff --git a/docs/fastdds/api_reference/rtps/common/Guid/operators.rst b/docs/fastdds/api_reference/rtps/common/Guid/operators.rst
new file mode 100644
index 000000000..356618a21
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Guid/operators.rst
@@ -0,0 +1,20 @@
+.. rst-class:: api-ref
+
+GUID_t Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const GUID_t &g1, const GUID_t &g2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const GUID_t &g1, const GUID_t &g2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<(const GUID_t &g1, const GUID_t &g2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const GUID_t &guid)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, GUID_t &guid)
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/GuidPrefix_t.rst b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/GuidPrefix_t.rst
new file mode 100644
index 000000000..de4f8dc9d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/GuidPrefix_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+GuidPrefix_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::GuidPrefix_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/c_GuidPrefix_Unknown.rst b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/c_GuidPrefix_Unknown.rst
new file mode 100644
index 000000000..8132e12bf
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/c_GuidPrefix_Unknown.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+c_GuidPrefix_Unknown
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_GuidPrefix_Unknown
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/guidprefix_toc.rst b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/guidprefix_toc.rst
new file mode 100644
index 000000000..c79a67c3b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/guidprefix_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_guidprefix:
+
+GuidPrefix
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/GuidPrefix_t/c_GuidPrefix_Unknown
+    /fastdds/api_reference/rtps/common/GuidPrefix_t/GuidPrefix_t
+    /fastdds/api_reference/rtps/common/GuidPrefix_t/operators
diff --git a/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/operators.rst b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/operators.rst
new file mode 100644
index 000000000..9e9479876
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/GuidPrefix_t/operators.rst
@@ -0,0 +1,10 @@
+.. rst-class:: api-ref
+
+GuidPrefix_t Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const GuidPrefix_t &guiP)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, GuidPrefix_t &guiP)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/InstanceHandle/InstanceHandle_t.rst b/docs/fastdds/api_reference/rtps/common/InstanceHandle/InstanceHandle_t.rst
new file mode 100644
index 000000000..c260e78c6
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/InstanceHandle/InstanceHandle_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+InstanceHandle_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::InstanceHandle_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/InstanceHandle/c_InstanceHandle_Unknown.rst b/docs/fastdds/api_reference/rtps/common/InstanceHandle/c_InstanceHandle_Unknown.rst
new file mode 100644
index 000000000..263171cc4
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/InstanceHandle/c_InstanceHandle_Unknown.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+c_InstanceHandle_Unknown
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_InstanceHandle_Unknown
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/InstanceHandle/instancehandle_toc.rst b/docs/fastdds/api_reference/rtps/common/InstanceHandle/instancehandle_toc.rst
new file mode 100644
index 000000000..fcd9f8e6e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/InstanceHandle/instancehandle_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_instancehandle:
+
+InstanceHandle
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/InstanceHandle/c_InstanceHandle_Unknown
+    /fastdds/api_reference/rtps/common/InstanceHandle/InstanceHandle_t
+    /fastdds/api_reference/rtps/common/InstanceHandle/operators
diff --git a/docs/fastdds/api_reference/rtps/common/InstanceHandle/operators.rst b/docs/fastdds/api_reference/rtps/common/InstanceHandle/operators.rst
new file mode 100644
index 000000000..ae3dd6432
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/InstanceHandle/operators.rst
@@ -0,0 +1,25 @@
+.. rst-class:: api-ref
+
+InstanceHandle_t Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const InstanceHandle_t &ihandle1, const InstanceHandle_t &ihandle2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const InstanceHandle_t &ihandle1, const InstanceHandle_t &ihandle2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<(const InstanceHandle_t &h1, const InstanceHandle_t &h2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const InstanceHandle_t &iHandle)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, InstanceHandle_t &iHandle)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::iHandle2GUID(GUID_t &guid, const InstanceHandle_t &ihandle) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::iHandle2GUID(const InstanceHandle_t &ihandle) noexcept
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/IsAddressDefined.rst b/docs/fastdds/api_reference/rtps/common/Locator/IsAddressDefined.rst
new file mode 100644
index 000000000..3dd9ac8a6
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/IsAddressDefined.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+IsAddressDefined
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::IsAddressDefined
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/IsLocatorValid.rst b/docs/fastdds/api_reference/rtps/common/Locator/IsLocatorValid.rst
new file mode 100644
index 000000000..fa8bd1992
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/IsLocatorValid.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+IsLocatorValid
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::IsLocatorValid
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/LocatorList.rst b/docs/fastdds/api_reference/rtps/common/Locator/LocatorList.rst
new file mode 100644
index 000000000..f07868d27
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/LocatorList.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+LocatorList
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::LocatorList
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/LocatorListConstIterator.rst b/docs/fastdds/api_reference/rtps/common/Locator/LocatorListConstIterator.rst
new file mode 100644
index 000000000..b406bac50
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/LocatorListConstIterator.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+LocatorListConstIterator
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::LocatorListConstIterator
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/LocatorListIterator.rst b/docs/fastdds/api_reference/rtps/common/Locator/LocatorListIterator.rst
new file mode 100644
index 000000000..711fe65cb
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/LocatorListIterator.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+LocatorListIterator
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::LocatorListIterator
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/Locator_t.rst b/docs/fastdds/api_reference/rtps/common/Locator/Locator_t.rst
new file mode 100644
index 000000000..ec82cf825
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/Locator_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+Locator_t
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::Locator_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/Locators.rst b/docs/fastdds/api_reference/rtps/common/Locator/Locators.rst
new file mode 100644
index 000000000..592be5b11
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/Locators.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+Locators
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::Locators
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/LocatorsIterator.rst b/docs/fastdds/api_reference/rtps/common/Locator/LocatorsIterator.rst
new file mode 100644
index 000000000..c39ec7822
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/LocatorsIterator.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+LocatorsIterator
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::LocatorsIterator
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/defines.rst b/docs/fastdds/api_reference/rtps/common/Locator/defines.rst
new file mode 100644
index 000000000..324ad3118
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/defines.rst
@@ -0,0 +1,35 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: LOCATOR_INVALID
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_INVALID
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_ADDRESS_INVALID
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_PORT_INVALID
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_RESERVED
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_UDPv4
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_UDPv6
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_TCPv4
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_TCPv6
+    :project: FastDDS
+
+.. doxygendefine:: LOCATOR_KIND_SHM
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/locator_toc.rst b/docs/fastdds/api_reference/rtps/common/Locator/locator_toc.rst
new file mode 100644
index 000000000..e6561fc5b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/locator_toc.rst
@@ -0,0 +1,18 @@
+.. _api_rtps_common_locator:
+
+Locator
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Locator/defines
+    /fastdds/api_reference/rtps/common/Locator/IsAddressDefined
+    /fastdds/api_reference/rtps/common/Locator/IsLocatorValid
+    /fastdds/api_reference/rtps/common/Locator/Locator_t
+    /fastdds/api_reference/rtps/common/Locator/LocatorList
+    /fastdds/api_reference/rtps/common/Locator/LocatorListConstIterator
+    /fastdds/api_reference/rtps/common/Locator/LocatorListIterator
+    /fastdds/api_reference/rtps/common/Locator/LocatorsIterator
+    /fastdds/api_reference/rtps/common/Locator/Locators
+    /fastdds/api_reference/rtps/common/Locator/operators
diff --git a/docs/fastdds/api_reference/rtps/common/Locator/operators.rst b/docs/fastdds/api_reference/rtps/common/Locator/operators.rst
new file mode 100644
index 000000000..777eb76c3
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Locator/operators.rst
@@ -0,0 +1,28 @@
+.. rst-class:: api-ref
+
+Locator Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<(const Locator_t &loc1, const Locator_t &loc2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const Locator_t &loc1, const Locator_t &loc2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const Locator_t &loc1, const Locator_t &loc2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const Locator_t &loc)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, Locator_t &loc)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const LocatorList &locList)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>>(std::istream &input, LocatorList &locList)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const ResourceLimitedVector<Locator_t> &lhs, const ResourceLimitedVector<Locator_t> &rhs)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/LocatorSelector/LocatorSelector.rst b/docs/fastdds/api_reference/rtps/common/LocatorSelector/LocatorSelector.rst
new file mode 100644
index 000000000..8f84a242d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/LocatorSelector/LocatorSelector.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+LocatorSelector
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::LocatorSelector
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/LocatorSelectorEntry/LocatorSelectorEntry.rst b/docs/fastdds/api_reference/rtps/common/LocatorSelectorEntry/LocatorSelectorEntry.rst
new file mode 100644
index 000000000..b7ceb4b7f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/LocatorSelectorEntry/LocatorSelectorEntry.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+LocatorSelectorEntry
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::LocatorSelectorEntry
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/LocatorWithMask/LocatorWithMask.rst b/docs/fastdds/api_reference/rtps/common/LocatorWithMask/LocatorWithMask.rst
new file mode 100644
index 000000000..30687a798
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/LocatorWithMask/LocatorWithMask.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+LocatorWithMask
+---------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::LocatorWithMask
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingInfo.rst b/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingInfo.rst
new file mode 100644
index 000000000..b51451412
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingInfo.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+MatchingInfo
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::MatchingInfo
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingStatus.rst b/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingStatus.rst
new file mode 100644
index 000000000..d6355bf0f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/MatchingInfo/MatchingStatus.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+MatchingStatus
+--------------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::MatchingStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/MatchingInfo/matchinginfo_toc.rst b/docs/fastdds/api_reference/rtps/common/MatchingInfo/matchinginfo_toc.rst
new file mode 100644
index 000000000..704ee8c00
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/MatchingInfo/matchinginfo_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_matchinginfo:
+
+MatchingInfo
+------------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/MatchingInfo/MatchingInfo
+    /fastdds/api_reference/rtps/common/MatchingInfo/MatchingStatus
diff --git a/docs/fastdds/api_reference/rtps/common/PortParameters/PortParameters.rst b/docs/fastdds/api_reference/rtps/common/PortParameters/PortParameters.rst
new file mode 100644
index 000000000..45be5fe77
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/PortParameters/PortParameters.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+PortParameters
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::PortParameters
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Property/Property.rst b/docs/fastdds/api_reference/rtps/common/Property/Property.rst
new file mode 100644
index 000000000..d2b8cde14
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Property/Property.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+Property
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::Property
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Property/PropertyHelper.rst b/docs/fastdds/api_reference/rtps/common/Property/PropertyHelper.rst
new file mode 100644
index 000000000..5de4fa466
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Property/PropertyHelper.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+PropertyHelper
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::PropertyHelper
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Property/PropertySeq.rst b/docs/fastdds/api_reference/rtps/common/Property/PropertySeq.rst
new file mode 100644
index 000000000..c077349f1
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Property/PropertySeq.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+PropertySeq
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::PropertySeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Property/property_toc.rst b/docs/fastdds/api_reference/rtps/common/Property/property_toc.rst
new file mode 100644
index 000000000..6502f0963
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Property/property_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_property:
+
+Property
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Property/Property
+    /fastdds/api_reference/rtps/common/Property/PropertyHelper
+    /fastdds/api_reference/rtps/common/Property/PropertySeq
diff --git a/docs/fastdds/api_reference/rtps/common/RemoteLocators/RemoteLocatorList.rst b/docs/fastdds/api_reference/rtps/common/RemoteLocators/RemoteLocatorList.rst
new file mode 100644
index 000000000..8662c6882
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/RemoteLocators/RemoteLocatorList.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RemoteLocatorList
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::RemoteLocatorList
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/RemoteLocators/operators.rst b/docs/fastdds/api_reference/rtps/common/RemoteLocators/operators.rst
new file mode 100644
index 000000000..661a9ecae
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/RemoteLocators/operators.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+RemoteLocators Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const RemoteLocatorList &remote_locators)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/RemoteLocators/remotelocators_toc.rst b/docs/fastdds/api_reference/rtps/common/RemoteLocators/remotelocators_toc.rst
new file mode 100644
index 000000000..38f9dc94c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/RemoteLocators/remotelocators_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_remotelocators:
+
+RemoteLocators
+===============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/RemoteLocators/operators
+    /fastdds/api_reference/rtps/common/RemoteLocators/RemoteLocatorList
diff --git a/docs/fastdds/api_reference/rtps/common/SampleIdentity/SampleIdentity.rst b/docs/fastdds/api_reference/rtps/common/SampleIdentity/SampleIdentity.rst
new file mode 100644
index 000000000..1f8677eba
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SampleIdentity/SampleIdentity.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SampleIdentity
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::SampleIdentity
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberDiff.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberDiff.rst
new file mode 100644
index 000000000..f4ec27f1e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberDiff.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SequenceNumberDiff
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SequenceNumberDiff
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberHash.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberHash.rst
new file mode 100644
index 000000000..8c9b43a02
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberHash.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SequenceNumberHash
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SequenceNumberHash
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberSet_t.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberSet_t.rst
new file mode 100644
index 000000000..e42ee44d8
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberSet_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+SequenceNumberSet_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::SequenceNumberSet_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumber_t.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumber_t.rst
new file mode 100644
index 000000000..76959a37a
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumber_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SequenceNumber_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SequenceNumber_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/c_SequenceNumber_Unknown.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/c_SequenceNumber_Unknown.rst
new file mode 100644
index 000000000..e0f350124
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/c_SequenceNumber_Unknown.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+c_SequenceNumber_Unknown
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_SequenceNumber_Unknown
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/operators.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/operators.rst
new file mode 100644
index 000000000..de68a1681
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/operators.rst
@@ -0,0 +1,41 @@
+.. rst-class:: api-ref
+
+SequenceNumber_t Operators
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const SequenceNumber_t &sn1, const SequenceNumber_t &sn2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const SequenceNumber_t &sn1, const SequenceNumber_t &sn2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>(const SequenceNumber_t &seq1, const SequenceNumber_t &seq2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<(const SequenceNumber_t &seq1, const SequenceNumber_t &seq2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>=(const SequenceNumber_t &seq1, const SequenceNumber_t &seq2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<=(const SequenceNumber_t &seq1, const SequenceNumber_t &seq2) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator-(const SequenceNumber_t &seq, const uint32_t inc) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator+(const SequenceNumber_t &seq, const uint32_t inc) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator-(const SequenceNumber_t &minuend, const SequenceNumber_t &subtrahend) noexcept
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const SequenceNumber_t &seqNum)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const std::vector<SequenceNumber_t> &seqNumSet)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const SequenceNumberSet_t &sns)
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/sequencenumber_toc.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/sequencenumber_toc.rst
new file mode 100644
index 000000000..fe9e835cb
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/sequencenumber_toc.rst
@@ -0,0 +1,15 @@
+.. _api_rtps_common_sequencenumber:
+
+SequenceNumber
+---------------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/SequenceNumber/c_SequenceNumber_Unknown
+    /fastdds/api_reference/rtps/common/SequenceNumber/operators
+    /fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumber_t
+    /fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberDiff
+    /fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberHash
+    /fastdds/api_reference/rtps/common/SequenceNumber/SequenceNumberSet_t
+    /fastdds/api_reference/rtps/common/SequenceNumber/sort_seqNum
diff --git a/docs/fastdds/api_reference/rtps/common/SequenceNumber/sort_seqNum.rst b/docs/fastdds/api_reference/rtps/common/SequenceNumber/sort_seqNum.rst
new file mode 100644
index 000000000..a8fdf0d56
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SequenceNumber/sort_seqNum.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+sort_seqNum
+--------------------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::sort_seqNum
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/SerializedPayload/SerializedPayload_t.rst b/docs/fastdds/api_reference/rtps/common/SerializedPayload/SerializedPayload_t.rst
new file mode 100644
index 000000000..4a395cc14
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SerializedPayload/SerializedPayload_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+SerializedPayload_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SerializedPayload_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/SerializedPayload/defines.rst b/docs/fastdds/api_reference/rtps/common/SerializedPayload/defines.rst
new file mode 100644
index 000000000..bc21a281c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SerializedPayload/defines.rst
@@ -0,0 +1,17 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: CDR_BE
+    :project: FastDDS
+
+.. doxygendefine:: CDR_LE
+    :project: FastDDS
+
+.. doxygendefine:: PL_CDR_BE
+    :project: FastDDS
+
+.. doxygendefine:: PL_CDR_LE
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/SerializedPayload/serializedpayload_toc.rst b/docs/fastdds/api_reference/rtps/common/SerializedPayload/serializedpayload_toc.rst
new file mode 100644
index 000000000..b4791c440
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/SerializedPayload/serializedpayload_toc.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_common_serializedpayload:
+
+SerializedPayload
+-------------------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/SerializedPayload/defines
+    /fastdds/api_reference/rtps/common/SerializedPayload/SerializedPayload_t
diff --git a/docs/fastdds/api_reference/rtps/common/Time_t/Time_t.rst b/docs/fastdds/api_reference/rtps/common/Time_t/Time_t.rst
new file mode 100644
index 000000000..94221ca78
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Time_t/Time_t.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPS layer Time_t
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::Time_t
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Time_t/defines.rst b/docs/fastdds/api_reference/rtps/common/Time_t/defines.rst
new file mode 100644
index 000000000..249b54c0b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Time_t/defines.rst
@@ -0,0 +1,11 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: TIME_T_INFINITE_SECONDS
+    :project: FastDDS
+
+.. doxygendefine:: TIME_T_INFINITE_NANOSECONDS
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/Time_t/operators.rst b/docs/fastdds/api_reference/rtps/common/Time_t/operators.rst
new file mode 100644
index 000000000..a61d8721a
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Time_t/operators.rst
@@ -0,0 +1,32 @@
+.. rst-class:: api-ref
+
+Time_t RTPS Operators
+---------------------
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator!=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator>=(const Time_t &t1, const Time_t &t2)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const Time_t &t)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator+(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator-(const Time_t &ta, const Time_t &tb)
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/rtps/common/Time_t/time_toc.rst b/docs/fastdds/api_reference/rtps/common/Time_t/time_toc.rst
new file mode 100644
index 000000000..885eec8f3
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Time_t/time_toc.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_common_time_t:
+
+RTPS Time_t
+-----------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Time_t/defines
+    /fastdds/api_reference/rtps/common/Time_t/operators
+    /fastdds/api_reference/rtps/common/Time_t/Time_t
diff --git a/docs/fastdds/api_reference/rtps/common/Token/AuthenticatedPeerCredentialToken.rst b/docs/fastdds/api_reference/rtps/common/Token/AuthenticatedPeerCredentialToken.rst
new file mode 100644
index 000000000..79290ea7f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/AuthenticatedPeerCredentialToken.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+AuthenticatedPeerCredentialToken
+-----------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::AuthenticatedPeerCredentialToken
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/DataHolder.rst b/docs/fastdds/api_reference/rtps/common/Token/DataHolder.rst
new file mode 100644
index 000000000..0d88b97fa
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/DataHolder.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+DataHolder
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::DataHolder
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Token/DataHolderHelper.rst b/docs/fastdds/api_reference/rtps/common/Token/DataHolderHelper.rst
new file mode 100644
index 000000000..a34ce20bf
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/DataHolderHelper.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+DataHolderHelper
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::DataHolderHelper
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/Token/DataHolderSeq.rst b/docs/fastdds/api_reference/rtps/common/Token/DataHolderSeq.rst
new file mode 100644
index 000000000..c1f41f10c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/DataHolderSeq.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+DataHolderSeq
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::DataHolderSeq
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/IdentityStatusToken.rst b/docs/fastdds/api_reference/rtps/common/Token/IdentityStatusToken.rst
new file mode 100644
index 000000000..835270bd7
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/IdentityStatusToken.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+IdentityStatusToken
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::IdentityStatusToken
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/IdentityToken.rst b/docs/fastdds/api_reference/rtps/common/Token/IdentityToken.rst
new file mode 100644
index 000000000..24bacc852
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/IdentityToken.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+IdentityToken
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::IdentityToken
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/PermissionsCredentialToken.rst b/docs/fastdds/api_reference/rtps/common/Token/PermissionsCredentialToken.rst
new file mode 100644
index 000000000..a5168260c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/PermissionsCredentialToken.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+PermissionsCredentialToken
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::PermissionsCredentialToken
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/PermissionsToken.rst b/docs/fastdds/api_reference/rtps/common/Token/PermissionsToken.rst
new file mode 100644
index 000000000..ab45b992e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/PermissionsToken.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+PermissionsToken
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::PermissionsToken
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/Token.rst b/docs/fastdds/api_reference/rtps/common/Token/Token.rst
new file mode 100644
index 000000000..5c262fd83
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/Token.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+Token
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::Token
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Token/token_toc.rst b/docs/fastdds/api_reference/rtps/common/Token/token_toc.rst
new file mode 100644
index 000000000..2292bd2a9
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Token/token_toc.rst
@@ -0,0 +1,17 @@
+.. _api_rtps_common_token:
+
+Token
+--------------------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Token/AuthenticatedPeerCredentialToken
+    /fastdds/api_reference/rtps/common/Token/DataHolder
+    /fastdds/api_reference/rtps/common/Token/DataHolderHelper
+    /fastdds/api_reference/rtps/common/Token/DataHolderSeq
+    /fastdds/api_reference/rtps/common/Token/IdentityStatusToken
+    /fastdds/api_reference/rtps/common/Token/IdentityToken
+    /fastdds/api_reference/rtps/common/Token/PermissionsCredentialToken
+    /fastdds/api_reference/rtps/common/Token/PermissionsToken
+    /fastdds/api_reference/rtps/common/Token/Token
diff --git a/docs/fastdds/api_reference/rtps/common/Types/BuiltinEndpointSet_t.rst b/docs/fastdds/api_reference/rtps/common/Types/BuiltinEndpointSet_t.rst
new file mode 100644
index 000000000..59591e2d3
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/BuiltinEndpointSet_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+BuiltinEndpointSet_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::BuiltinEndpointSet_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/Count_t.rst b/docs/fastdds/api_reference/rtps/common/Types/Count_t.rst
new file mode 100644
index 000000000..1ddb28a60
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/Count_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+Count_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::Count_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/DurabilityKind_t.rst b/docs/fastdds/api_reference/rtps/common/Types/DurabilityKind_t.rst
new file mode 100644
index 000000000..5495c2cf0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/DurabilityKind_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+DurabilityKind_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::DurabilityKind_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/Endianness_t.rst b/docs/fastdds/api_reference/rtps/common/Types/Endianness_t.rst
new file mode 100644
index 000000000..9760af3b5
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/Endianness_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+Endianness_t
+--------------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::Endianness_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/EndpointKind_t.rst b/docs/fastdds/api_reference/rtps/common/Types/EndpointKind_t.rst
new file mode 100644
index 000000000..96f5160ed
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/EndpointKind_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+EndpointKind_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::EndpointKind_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/ProtocolVersion_t.rst b/docs/fastdds/api_reference/rtps/common/Types/ProtocolVersion_t.rst
new file mode 100644
index 000000000..2eddf7905
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/ProtocolVersion_t.rst
@@ -0,0 +1,11 @@
+.. rst-class:: api-ref
+
+ProtocolVersion_t
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ProtocolVersion_t
+    :project: FastDDS
+    :members:
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator<<(std::ostream &output, const ProtocolVersion_t &pv)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/ReliabilityKind_t.rst b/docs/fastdds/api_reference/rtps/common/Types/ReliabilityKind_t.rst
new file mode 100644
index 000000000..bb4f7c213
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/ReliabilityKind_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ReliabilityKind_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::ReliabilityKind_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/SubmessageFlag.rst b/docs/fastdds/api_reference/rtps/common/Types/SubmessageFlag.rst
new file mode 100644
index 000000000..941b48e46
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/SubmessageFlag.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+SubmessageFlag
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::SubmessageFlag
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/TopicKind_t.rst b/docs/fastdds/api_reference/rtps/common/Types/TopicKind_t.rst
new file mode 100644
index 000000000..7030c23ea
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/TopicKind_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+TopicKind_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::TopicKind_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/VendorId_t.rst b/docs/fastdds/api_reference/rtps/common/Types/VendorId_t.rst
new file mode 100644
index 000000000..0a269964b
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/VendorId_t.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+VendorId_t
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::VendorId_t
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/const_values.rst b/docs/fastdds/api_reference/rtps/common/Types/const_values.rst
new file mode 100644
index 000000000..c44a449be
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/const_values.rst
@@ -0,0 +1,25 @@
+.. rst-class:: api-ref
+
+Const values
+--------------------------------
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_ProtocolVersion_2_0
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_ProtocolVersion_2_1
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_ProtocolVersion_2_2
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_ProtocolVersion_2_3
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_ProtocolVersion
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_VendorId_Unknown
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::c_VendorId_eProsima
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/defines.rst b/docs/fastdds/api_reference/rtps/common/Types/defines.rst
new file mode 100644
index 000000000..74a2cb931
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/defines.rst
@@ -0,0 +1,31 @@
+.. rst-class:: api-ref
+
+Macro definitions (#define)
+--------------------------------
+
+.. doxygendefine:: BIT0
+    :project: FastDDS
+
+.. doxygendefine:: BIT1
+    :project: FastDDS
+
+.. doxygendefine:: BIT2
+    :project: FastDDS
+
+.. doxygendefine:: BIT3
+    :project: FastDDS
+
+.. doxygendefine:: BIT4
+    :project: FastDDS
+
+.. doxygendefine:: BIT5
+    :project: FastDDS
+
+.. doxygendefine:: BIT6
+    :project: FastDDS
+
+.. doxygendefine:: BIT7
+    :project: FastDDS
+
+.. doxygendefine:: BIT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/octet.rst b/docs/fastdds/api_reference/rtps/common/Types/octet.rst
new file mode 100644
index 000000000..84c56b67f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/octet.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+octet
+--------------------------------
+
+.. doxygentypedef:: eprosima::fastdds::rtps::octet
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/common/Types/types_toc.rst b/docs/fastdds/api_reference/rtps/common/Types/types_toc.rst
new file mode 100644
index 000000000..81af0ff0d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/Types/types_toc.rst
@@ -0,0 +1,21 @@
+.. _api_rtps_common_types:
+
+Types
+--------------------
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/Types/BuiltinEndpointSet_t
+    /fastdds/api_reference/rtps/common/Types/const_values
+    /fastdds/api_reference/rtps/common/Types/Count_t
+    /fastdds/api_reference/rtps/common/Types/defines
+    /fastdds/api_reference/rtps/common/Types/DurabilityKind_t
+    /fastdds/api_reference/rtps/common/Types/Endianness_t
+    /fastdds/api_reference/rtps/common/Types/EndpointKind_t
+    /fastdds/api_reference/rtps/common/Types/octet
+    /fastdds/api_reference/rtps/common/Types/ProtocolVersion_t
+    /fastdds/api_reference/rtps/common/Types/ReliabilityKind_t
+    /fastdds/api_reference/rtps/common/Types/SubmessageFlag
+    /fastdds/api_reference/rtps/common/Types/TopicKind_t
+    /fastdds/api_reference/rtps/common/Types/VendorId_t
diff --git a/docs/fastdds/api_reference/rtps/common/WriteParams/WriteParams.rst b/docs/fastdds/api_reference/rtps/common/WriteParams/WriteParams.rst
new file mode 100644
index 000000000..e361606a1
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/WriteParams/WriteParams.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+WriteParams
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::WriteParams
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/common/common.rst b/docs/fastdds/api_reference/rtps/common/common.rst
new file mode 100644
index 000000000..2bb87bf21
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/common/common.rst
@@ -0,0 +1,32 @@
+.. _api_rtps_common:
+
+Common
+======
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/common/BinaryProperty/binaryproperty_toc
+    /fastdds/api_reference/rtps/common/CacheChange/cachechange_toc
+    /fastdds/api_reference/rtps/common/CDRMessage_t/cdrmessage_toc
+    /fastdds/api_reference/rtps/common/CDRSerialization/CDRSerialization
+    /fastdds/api_reference/rtps/common/EntityId_t/entityid_toc
+    /fastdds/api_reference/rtps/common/FragmentNumber/fragmentnumber_toc
+    /fastdds/api_reference/rtps/common/Guid/guid_toc
+    /fastdds/api_reference/rtps/common/GuidPrefix_t/guidprefix_toc
+    /fastdds/api_reference/rtps/common/InstanceHandle/instancehandle_toc
+    /fastdds/api_reference/rtps/common/Locator/locator_toc
+    /fastdds/api_reference/rtps/common/LocatorSelectorEntry/LocatorSelectorEntry
+    /fastdds/api_reference/rtps/common/LocatorSelector/LocatorSelector
+    /fastdds/api_reference/rtps/common/LocatorWithMask/LocatorWithMask
+    /fastdds/api_reference/rtps/common/MatchingInfo/matchinginfo_toc
+    /fastdds/api_reference/rtps/common/PortParameters/PortParameters
+    /fastdds/api_reference/rtps/common/Property/property_toc
+    /fastdds/api_reference/rtps/common/RemoteLocators/remotelocators_toc
+    /fastdds/api_reference/rtps/common/SampleIdentity/SampleIdentity
+    /fastdds/api_reference/rtps/common/SequenceNumber/sequencenumber_toc
+    /fastdds/api_reference/rtps/common/SerializedPayload/serializedpayload_toc
+    /fastdds/api_reference/rtps/common/Time_t/time_toc
+    /fastdds/api_reference/rtps/common/Token/token_toc
+    /fastdds/api_reference/rtps/common/Types/types_toc
+    /fastdds/api_reference/rtps/common/WriteParams/WriteParams
diff --git a/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerDescriptor.rst b/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerDescriptor.rst
new file mode 100644
index 000000000..8c735ac1f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerDescriptor.rst
@@ -0,0 +1,15 @@
+.. rst-class:: api-ref
+
+FlowControllerDescriptor
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::FlowControllerDescriptor
+    :project: FastDDS
+    :members:
+
+
+.. doxygenvariable:: eprosima::fastdds::rtps::FASTDDS_FLOW_CONTROLLER_DEFAULT
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::FASTDDS_STATISTICS_FLOW_CONTROLLER_DEFAULT
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerSchedulerPolicy.rst b/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerSchedulerPolicy.rst
new file mode 100644
index 000000000..ff4458e88
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/flowcontrol/FlowControllerSchedulerPolicy.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+FlowControllerSchedulerPolicy
+-----------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::FlowControllerSchedulerPolicy
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/flowcontrol/flowcontrol.rst b/docs/fastdds/api_reference/rtps/flowcontrol/flowcontrol.rst
new file mode 100644
index 000000000..a438171b5
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/flowcontrol/flowcontrol.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_flowcontrol:
+
+Flow control
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/flowcontrol/FlowControllerDescriptor
+    /fastdds/api_reference/rtps/flowcontrol/FlowControllerSchedulerPolicy
diff --git a/docs/fastdds/api_reference/rtps/history/History_class.rst b/docs/fastdds/api_reference/rtps/history/History_class.rst
new file mode 100644
index 000000000..cd4e55f4c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/History_class.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+History
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::History
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/history/IChangePool.rst b/docs/fastdds/api_reference/rtps/history/IChangePool.rst
new file mode 100644
index 000000000..ff5ab54e6
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/IChangePool.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+IChangePool
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::IChangePool
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/history/IPayloadPool.rst b/docs/fastdds/api_reference/rtps/history/IPayloadPool.rst
new file mode 100644
index 000000000..fde55e7ec
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/IPayloadPool.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+IPayloadPool
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::IPayloadPool
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/history/ReaderHistory.rst b/docs/fastdds/api_reference/rtps/history/ReaderHistory.rst
new file mode 100644
index 000000000..40c470e2d
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/ReaderHistory.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ReaderHistory
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ReaderHistory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/history/WriterHistory.rst b/docs/fastdds/api_reference/rtps/history/WriterHistory.rst
new file mode 100644
index 000000000..c96b10de0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/WriterHistory.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+WriterHistory
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::WriterHistory
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/history/history.rst b/docs/fastdds/api_reference/rtps/history/history.rst
new file mode 100644
index 000000000..8b39cf0c7
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/history/history.rst
@@ -0,0 +1,13 @@
+.. _api_rtps_history:
+
+History
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/history/History_class
+    /fastdds/api_reference/rtps/history/IChangePool
+    /fastdds/api_reference/rtps/history/IPayloadPool
+    /fastdds/api_reference/rtps/history/ReaderHistory
+    /fastdds/api_reference/rtps/history/WriterHistory
diff --git a/docs/fastdds/api_reference/rtps/participant/RTPSParticipant.rst b/docs/fastdds/api_reference/rtps/participant/RTPSParticipant.rst
new file mode 100644
index 000000000..d1cb1a667
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/RTPSParticipant.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSParticipant
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSParticipant
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/participant/RTPSParticipantListener.rst b/docs/fastdds/api_reference/rtps/participant/RTPSParticipantListener.rst
new file mode 100644
index 000000000..66a479518
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/RTPSParticipantListener.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSParticipantListener
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSParticipantListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/participant/participant.rst b/docs/fastdds/api_reference/rtps/participant/participant.rst
new file mode 100644
index 000000000..11dcaea49
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participant.rst
@@ -0,0 +1,11 @@
+.. _api_rtps_participant:
+
+RTPSParticipant
+=================
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/participantdiscoveryinfo
+    /fastdds/api_reference/rtps/participant/RTPSParticipant
+    /fastdds/api_reference/rtps/participant/RTPSParticipantListener
diff --git a/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantAuthenticationInfo.rst b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantAuthenticationInfo.rst
new file mode 100644
index 000000000..4bba5d75e
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantAuthenticationInfo.rst
@@ -0,0 +1,11 @@
+.. rst-class:: api-ref
+
+ParticipantAuthenticationInfo
+--------------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ParticipantAuthenticationInfo
+    :project: FastDDS
+    :members:
+
+.. doxygenfunction:: eprosima::fastdds::rtps::operator==(const ParticipantAuthenticationInfo &l, const ParticipantAuthenticationInfo &r)
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus.rst b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus.rst
new file mode 100644
index 000000000..f46c4a3ff
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ParticipantDiscoveryStatus
+--------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::ParticipantDiscoveryStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ReaderDiscoveryStatus.rst b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ReaderDiscoveryStatus.rst
new file mode 100644
index 000000000..71dc309f5
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ReaderDiscoveryStatus.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ReaderDiscoveryStatus
+---------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::ReaderDiscoveryStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/WriterDiscoveryStatus.rst b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/WriterDiscoveryStatus.rst
new file mode 100644
index 000000000..4e25245ee
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/WriterDiscoveryStatus.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+WriterDiscoveryStatus
+-----------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::WriterDiscoveryStatus
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/participantdiscoveryinfo.rst b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/participantdiscoveryinfo.rst
new file mode 100644
index 000000000..a9be5d62f
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/participant/participantdiscoveryinfo/participantdiscoveryinfo.rst
@@ -0,0 +1,12 @@
+.. _api_rtps_participantdiscoveryinfo:
+
+ParticipantDiscoveryInfo
+============================
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantAuthenticationInfo
+    /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ParticipantDiscoveryStatus
+    /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/ReaderDiscoveryStatus
+    /fastdds/api_reference/rtps/participant/participantdiscoveryinfo/WriterDiscoveryStatus
diff --git a/docs/fastdds/api_reference/rtps/reader/RTPSReader.rst b/docs/fastdds/api_reference/rtps/reader/RTPSReader.rst
new file mode 100644
index 000000000..49feddebd
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/reader/RTPSReader.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSReader
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSReader
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/reader/ReaderListener.rst b/docs/fastdds/api_reference/rtps/reader/ReaderListener.rst
new file mode 100644
index 000000000..8389b58dc
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/reader/ReaderListener.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+ReaderListener
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ReaderListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/reader/reader.rst b/docs/fastdds/api_reference/rtps/reader/reader.rst
new file mode 100644
index 000000000..9a86955f0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/reader/reader.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_reader:
+
+RTPSReader
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/reader/ReaderListener
+    /fastdds/api_reference/rtps/reader/RTPSReader
diff --git a/docs/fastdds/api_reference/rtps/resources/MemoryManagementPolicy.rst b/docs/fastdds/api_reference/rtps/resources/MemoryManagementPolicy.rst
new file mode 100644
index 000000000..771ff097c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/resources/MemoryManagementPolicy.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+MemoryManagementPolicy
+------------------------
+
+.. doxygenenum:: eprosima::fastdds::rtps::MemoryManagementPolicy
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/rtps/resources/resources.rst b/docs/fastdds/api_reference/rtps/resources/resources.rst
new file mode 100644
index 000000000..83f3969f9
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/resources/resources.rst
@@ -0,0 +1,9 @@
+.. _api_rtps_resources:
+
+Resources
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/resources/MemoryManagementPolicy
diff --git a/docs/fastdds/api_reference/rtps/rtps.rst b/docs/fastdds/api_reference/rtps/rtps.rst
new file mode 100644
index 000000000..21e4a261c
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/rtps.rst
@@ -0,0 +1,22 @@
+.. _api_rtps:
+
+RTPS
+====
+
+*eProsima Fast DDS* Real-Time Publish-Subscribe (RTPS) layer API.
+
+.. toctree::
+    :titlesonly:
+
+
+    /fastdds/api_reference/rtps/attributes/attributes
+    /fastdds/api_reference/rtps/builtin/data/data
+    /fastdds/api_reference/rtps/common/common
+    /fastdds/api_reference/rtps/Endpoint
+    /fastdds/api_reference/rtps/flowcontrol/flowcontrol
+    /fastdds/api_reference/rtps/history/history
+    /fastdds/api_reference/rtps/participant/participant
+    /fastdds/api_reference/rtps/reader/reader
+    /fastdds/api_reference/rtps/resources/resources
+    /fastdds/api_reference/rtps/RTPSDomain
+    /fastdds/api_reference/rtps/writer/writer
diff --git a/docs/fastdds/api_reference/rtps/writer/RTPSWriter.rst b/docs/fastdds/api_reference/rtps/writer/RTPSWriter.rst
new file mode 100644
index 000000000..0f5c922b0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/writer/RTPSWriter.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+RTPSWriter
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::RTPSWriter
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/writer/WriterListener.rst b/docs/fastdds/api_reference/rtps/writer/WriterListener.rst
new file mode 100644
index 000000000..17bafd0b7
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/writer/WriterListener.rst
@@ -0,0 +1,8 @@
+.. rst-class:: api-ref
+
+WriterListener
+--------------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::WriterListener
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/rtps/writer/writer.rst b/docs/fastdds/api_reference/rtps/writer/writer.rst
new file mode 100644
index 000000000..ca38c6cc0
--- /dev/null
+++ b/docs/fastdds/api_reference/rtps/writer/writer.rst
@@ -0,0 +1,10 @@
+.. _api_rtps_writer:
+
+RTPSWriter
+============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/rtps/writer/RTPSWriter.rst
+    /fastdds/api_reference/rtps/writer/WriterListener.rst
diff --git a/docs/fastdds/api_reference/statistics/datareader_qos.rst b/docs/fastdds/api_reference/statistics/datareader_qos.rst
new file mode 100644
index 000000000..dd81f4cfe
--- /dev/null
+++ b/docs/fastdds/api_reference/statistics/datareader_qos.rst
@@ -0,0 +1,20 @@
+.. _api_statistics_datareader_qos:
+
+.. rst-class:: api-ref
+
+DataReaderQos
+-------------
+
+.. doxygenclass:: eprosima::fastdds::statistics::dds::DataReaderQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::statistics::dds::STATISTICS_DATAREADER_QOS
+    :project: FastDDS
+
+.. doxygenclass:: eprosima::fastdds::statistics::dds::MonitorServiceDataReaderQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::statistics::dds::MONITOR_SERVICE_DATAREADER_QOS
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/statistics/datawriter_qos.rst b/docs/fastdds/api_reference/statistics/datawriter_qos.rst
new file mode 100644
index 000000000..8d952b1c7
--- /dev/null
+++ b/docs/fastdds/api_reference/statistics/datawriter_qos.rst
@@ -0,0 +1,13 @@
+.. _api_statistics_datawriter_qos:
+
+.. rst-class:: api-ref
+
+DataWriterQos
+-------------
+
+.. doxygenclass:: eprosima::fastdds::statistics::dds::DataWriterQos
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::statistics::dds::STATISTICS_DATAWRITER_QOS
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/statistics/domain_participant.rst b/docs/fastdds/api_reference/statistics/domain_participant.rst
new file mode 100644
index 000000000..6e4f3453d
--- /dev/null
+++ b/docs/fastdds/api_reference/statistics/domain_participant.rst
@@ -0,0 +1,10 @@
+.. _api_statistics_domain_participant:
+
+.. rst-class:: api-ref
+
+DomainParticipant
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::statistics::dds::DomainParticipant
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/statistics/statistics.rst b/docs/fastdds/api_reference/statistics/statistics.rst
new file mode 100644
index 000000000..4cea7ad69
--- /dev/null
+++ b/docs/fastdds/api_reference/statistics/statistics.rst
@@ -0,0 +1,14 @@
+.. _api_statistics:
+
+Statistics
+==========
+
+*eProsima Fast DDS* Statistics Module extension API.
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/statistics/domain_participant.rst
+   /fastdds/api_reference/statistics/datawriter_qos.rst
+   /fastdds/api_reference/statistics/datareader_qos.rst
+   /fastdds/api_reference/statistics/topic_names.rst
diff --git a/docs/fastdds/api_reference/statistics/topic_names.rst b/docs/fastdds/api_reference/statistics/topic_names.rst
new file mode 100644
index 000000000..322fde1db
--- /dev/null
+++ b/docs/fastdds/api_reference/statistics/topic_names.rst
@@ -0,0 +1,57 @@
+.. _api_statistics_topic_names:
+
+.. rst-class:: api-ref
+
+Topic names
+-----------
+
+.. doxygenvariable:: eprosima::fastdds::statistics::HISTORY_LATENCY_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::NETWORK_LATENCY_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::PUBLICATION_THROUGHPUT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::SUBSCRIPTION_THROUGHPUT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::RTPS_SENT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::RTPS_LOST_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::RESENT_DATAS_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::HEARTBEAT_COUNT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::ACKNACK_COUNT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::NACKFRAG_COUNT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::GAP_COUNT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::DATA_COUNT_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::PDP_PACKETS_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::EDP_PACKETS_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::DISCOVERY_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::SAMPLE_DATAS_TOPIC
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::statistics::PHYSICAL_DATA_TOPIC
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/transport/chaining_transport.rst b/docs/fastdds/api_reference/transport/chaining_transport.rst
new file mode 100644
index 000000000..677becbff
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/chaining_transport.rst
@@ -0,0 +1,8 @@
+Chaining of transports
+======================
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/chaining_transport/chaining_transport_descriptor.rst
+    /fastdds/api_reference/transport/chaining_transport/chaining_transport.rst
diff --git a/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport.rst b/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport.rst
new file mode 100644
index 000000000..c1c822559
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport.rst
@@ -0,0 +1,8 @@
+.. _api_chaining_transport:
+
+ChainingTransport
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::ChainingTransport
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport_descriptor.rst b/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport_descriptor.rst
new file mode 100644
index 000000000..2370ceb19
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/chaining_transport/chaining_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_chaining_transport_descriptor:
+
+ChainingTransportDescriptor
+---------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::ChainingTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/shm_transport/shared_mem_transport_descriptor.rst b/docs/fastdds/api_reference/transport/shm_transport/shared_mem_transport_descriptor.rst
new file mode 100644
index 000000000..18ba48c97
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/shm_transport/shared_mem_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_shared_mem_transport_descriptor:
+
+SharedMemTransportDescriptor
+----------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SharedMemTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/shm_transport/test_shared_mem_transport_descriptor.rst b/docs/fastdds/api_reference/transport/shm_transport/test_shared_mem_transport_descriptor.rst
new file mode 100644
index 000000000..0a55e7764
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/shm_transport/test_shared_mem_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_test_shared_mem_transport_descriptor:
+
+SharedMemTransportDescriptor
+----------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::test_SharedMemTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/shm_transport_interface.rst b/docs/fastdds/api_reference/transport/shm_transport_interface.rst
new file mode 100644
index 000000000..946cca709
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/shm_transport_interface.rst
@@ -0,0 +1,8 @@
+Shared Memory Transport
+=======================
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/shm_transport/shared_mem_transport_descriptor.rst
+    /fastdds/api_reference/transport/shm_transport/test_shared_mem_transport_descriptor.rst
diff --git a/docs/fastdds/api_reference/transport/tcp_transport/tcp_transport_descriptor.rst b/docs/fastdds/api_reference/transport/tcp_transport/tcp_transport_descriptor.rst
new file mode 100644
index 000000000..5fcf3f005
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/tcp_transport/tcp_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_tcp_transport_descriptor:
+
+TCPTransportDescriptor
+----------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::TCPTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/tcp_transport/tcpv4_transport_descriptor.rst b/docs/fastdds/api_reference/transport/tcp_transport/tcpv4_transport_descriptor.rst
new file mode 100644
index 000000000..670f63342
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/tcp_transport/tcpv4_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_tcpv4_transport_descriptor:
+
+TCPv4TransportDescriptor
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::TCPv4TransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/tcp_transport/tcpv6_transport_descriptor.rst b/docs/fastdds/api_reference/transport/tcp_transport/tcpv6_transport_descriptor.rst
new file mode 100644
index 000000000..2707c3792
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/tcp_transport/tcpv6_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_tcpv6_transport_descriptor:
+
+TCPv6TransportDescriptor
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::TCPv6TransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/tcp_transport_interface.rst b/docs/fastdds/api_reference/transport/tcp_transport_interface.rst
new file mode 100644
index 000000000..3a1fa808c
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/tcp_transport_interface.rst
@@ -0,0 +1,9 @@
+TCP Transport
+=============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/tcp_transport/tcp_transport_descriptor.rst
+    /fastdds/api_reference/transport/tcp_transport/tcpv4_transport_descriptor.rst
+    /fastdds/api_reference/transport/tcp_transport/tcpv6_transport_descriptor.rst
diff --git a/docs/fastdds/api_reference/transport/transport.rst b/docs/fastdds/api_reference/transport/transport.rst
new file mode 100644
index 000000000..650a00e8b
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport.rst
@@ -0,0 +1,15 @@
+.. _api_transport:
+
+Transport
+=========
+
+*eProsima Fast DDS* Transport Layer API.
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/transport_generic_interfaces.rst
+    /fastdds/api_reference/transport/chaining_transport.rst
+    /fastdds/api_reference/transport/udp_transport_interface.rst
+    /fastdds/api_reference/transport/tcp_transport_interface.rst
+    /fastdds/api_reference/transport/shm_transport_interface.rst
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces.rst
new file mode 100644
index 000000000..bb0326113
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces.rst
@@ -0,0 +1,11 @@
+Transport Generic Interfaces
+============================
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/transport_generic_interfaces/transport_descriptor_interface.rst
+    /fastdds/api_reference/transport/transport_generic_interfaces/transport_interface.rst
+    /fastdds/api_reference/transport/transport_generic_interfaces/transport_receiver_interface.rst
+    /fastdds/api_reference/transport/transport_generic_interfaces/port_based_transport_descriptor.rst
+    /fastdds/api_reference/transport/transport_generic_interfaces/socket_transport_descriptor.rst
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces/port_based_transport_descriptor.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces/port_based_transport_descriptor.rst
new file mode 100644
index 000000000..885d24a19
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces/port_based_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_port_based_transport_descriptor:
+
+PortBasedTransportDescriptor
+----------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::PortBasedTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces/socket_transport_descriptor.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces/socket_transport_descriptor.rst
new file mode 100644
index 000000000..5fef36d87
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces/socket_transport_descriptor.rst
@@ -0,0 +1,11 @@
+.. _api_socket_transport_descriptor:
+
+SocketTransportDescriptor
+-------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::SocketTransportDescriptor
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::rtps::s_defaultTTL
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_descriptor_interface.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_descriptor_interface.rst
new file mode 100644
index 000000000..794437cc8
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_descriptor_interface.rst
@@ -0,0 +1,8 @@
+.. _api_transport_descriptor_interface:
+
+TransportDescriptorInterface
+----------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::TransportDescriptorInterface
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_interface.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_interface.rst
new file mode 100644
index 000000000..2c1cbe6d6
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_interface.rst
@@ -0,0 +1,24 @@
+.. _api_transport_interface:
+
+TransportInterface
+------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::TransportInterface
+    :project: FastDDS
+    :members:
+
+.. doxygenvariable:: eprosima::fastdds::rtps::s_maximumMessageSize
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::s_maximumInitialPeersRange
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::s_IPv4AddressAny
+    :project: FastDDS
+
+.. doxygenvariable:: eprosima::fastdds::rtps::s_IPv6AddressAny
+    :project: FastDDS
+
+.. doxygentypedef:: eprosima::fastdds::rtps::SendResourceList
+    :project: FastDDS
+
diff --git a/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_receiver_interface.rst b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_receiver_interface.rst
new file mode 100644
index 000000000..e14957b29
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/transport_generic_interfaces/transport_receiver_interface.rst
@@ -0,0 +1,8 @@
+.. _api_transport_receiver_interface:
+
+TransportReceiverInterface
+--------------------------
+
+.. doxygenclass:: eprosima::fastdds::rtps::TransportReceiverInterface
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/udp_transport/udp_transport_descriptor.rst b/docs/fastdds/api_reference/transport/udp_transport/udp_transport_descriptor.rst
new file mode 100644
index 000000000..0cb2b08e2
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/udp_transport/udp_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_udp_transport_descriptor:
+
+UDPTransportDescriptor
+----------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::UDPTransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/udp_transport/udpv4_transport_descriptor.rst b/docs/fastdds/api_reference/transport/udp_transport/udpv4_transport_descriptor.rst
new file mode 100644
index 000000000..25957ce91
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/udp_transport/udpv4_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_udpv4_transport_descriptor:
+
+UDPv4TransportDescriptor
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::UDPv4TransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/udp_transport/udpv6_transport_descriptor.rst b/docs/fastdds/api_reference/transport/udp_transport/udpv6_transport_descriptor.rst
new file mode 100644
index 000000000..fa208072f
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/udp_transport/udpv6_transport_descriptor.rst
@@ -0,0 +1,8 @@
+.. _api_udpv6_transport_descriptor:
+
+UDPv6TransportDescriptor
+------------------------
+
+.. doxygenstruct:: eprosima::fastdds::rtps::UDPv6TransportDescriptor
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/transport/udp_transport_interface.rst b/docs/fastdds/api_reference/transport/udp_transport_interface.rst
new file mode 100644
index 000000000..b62724a50
--- /dev/null
+++ b/docs/fastdds/api_reference/transport/udp_transport_interface.rst
@@ -0,0 +1,9 @@
+UDP Transport
+=============
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/api_reference/transport/udp_transport/udp_transport_descriptor.rst
+    /fastdds/api_reference/transport/udp_transport/udpv4_transport_descriptor.rst
+    /fastdds/api_reference/transport/udp_transport/udpv6_transport_descriptor.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/core.rst b/docs/fastdds/python_api_reference/dds_pim/core/core.rst
new file mode 100644
index 000000000..aeeae3b94
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/core.rst
@@ -0,0 +1,14 @@
+Core
+====
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/core/entity.rst
+    /fastdds/python_api_reference/dds_pim/core/domainentity.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/policy.rst
+    /fastdds/python_api_reference/dds_pim/core/status/status.rst
+    /fastdds/python_api_reference/dds_pim/core/loanablearray.rst
+    /fastdds/python_api_reference/dds_pim/core/loanablecollection.rst
+    /fastdds/python_api_reference/dds_pim/core/loanablesequence.rst
+    /fastdds/python_api_reference/dds_pim/core/stackallocatedsequence.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/domainentity.rst b/docs/fastdds/python_api_reference/dds_pim/core/domainentity.rst
new file mode 100644
index 000000000..272debdc6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/domainentity.rst
@@ -0,0 +1,9 @@
+
+.. _python_api_pim_domainentity:
+
+.. rst-class:: api-ref
+
+DomainEntity
+------------
+
+.. autoclass:: fastdds.DomainEntity
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/entity.rst b/docs/fastdds/python_api_reference/dds_pim/core/entity.rst
new file mode 100644
index 000000000..63dc24b85
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/entity.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_entity:
+
+.. rst-class:: api-ref
+
+Entity
+------
+
+.. autoclass:: fastdds.Entity
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/loanablearray.rst b/docs/fastdds/python_api_reference/dds_pim/core/loanablearray.rst
new file mode 100644
index 000000000..a2c554aaa
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/loanablearray.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_loanablearray:
+
+.. rst-class:: api-ref
+
+LoanableArray
+-------------
+
+.. TODO
+   .. autoclass:: fastdds.LoanableArray
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/loanablecollection.rst b/docs/fastdds/python_api_reference/dds_pim/core/loanablecollection.rst
new file mode 100644
index 000000000..77f3a3844
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/loanablecollection.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_loanablecollection:
+
+.. rst-class:: api-ref
+
+LoanableCollection
+------------------
+
+.. autoclass:: fastdds.LoanableCollection
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/loanablesequence.rst b/docs/fastdds/python_api_reference/dds_pim/core/loanablesequence.rst
new file mode 100644
index 000000000..2d97c1d3b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/loanablesequence.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_loanablesequence:
+
+.. rst-class:: api-ref
+
+LoanableSequence
+------------------
+
+.. TODO
+   .. autoclass:: fastdds.LoanableSequence
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationid.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationid.rst
new file mode 100644
index 000000000..9bbf6d0fa
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationid.rst
@@ -0,0 +1,14 @@
+.. _python_api_pim_datarepresentationid:
+
+.. rst-class:: api-ref
+
+DataRepresentationId
+--------------------
+
+.. autoclass:: fastdds.XCDR_DATA_REPRESENTATION
+
+.. autoclass:: fastdds.XML_DATA_REPRESENTATION
+
+.. autoclass:: fastdds.XCDR2_DATA_REPRESENTATION
+
+.. autoclass:: fastdds.DEFAULT_DATA_REPRESENTATION
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
new file mode 100644
index 000000000..4a3776972
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datarepresentationqospolicy:
+
+.. rst-class:: api-ref
+
+DataRepresentationQosPolicy
+---------------------------
+
+.. autoclass:: fastdds.DataRepresentationQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingkind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingkind.rst
new file mode 100644
index 000000000..f3aab2e6e
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingkind.rst
@@ -0,0 +1,12 @@
+.. _python_api_pim_datasharingkind:
+
+.. rst-class:: api-ref
+
+DataSharingKind
+---------------
+
+.. autoclass:: fastdds.AUTO
+
+.. autoclass:: fastdds.ON
+
+.. autoclass:: fastdds.OFF
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingqospolicy.rst
new file mode 100644
index 000000000..d2573d2ce
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/datasharingqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datasharingqospolicy:
+
+.. rst-class:: api-ref
+
+DataSharingQosPolicy
+--------------------
+
+.. autoclass:: fastdds.DataSharingQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/deadlineqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/deadlineqospolicy.rst
new file mode 100644
index 000000000..6f6df4ef0
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/deadlineqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_deadlineqospolicy:
+
+.. rst-class:: api-ref
+
+DeadlineQosPolicy
+-----------------
+
+.. autoclass:: fastdds.DeadlineQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
new file mode 100644
index 000000000..29e97aabf
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_destinationorderqospolicy:
+
+.. rst-class:: api-ref
+
+DestinationOrderQosPolicy
+-------------------------
+
+.. autoclass:: fastdds.DestinationOrderQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
new file mode 100644
index 000000000..515659c3f
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
@@ -0,0 +1,11 @@
+.. _python_api_pim_destinationorderqospolicykind:
+
+.. rst-class:: api-ref
+
+DestinationOrderQosPolicyKind
+-----------------------------
+
+.. autoclass:: fastdds.BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS
+
+.. autoclass:: fastdds.BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS
+
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
new file mode 100644
index 000000000..6a6f3a42b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_disablepositiveacksqospolicy:
+
+.. rst-class:: api-ref
+
+DisablePositiveACKsQosPolicy
+----------------------------
+
+.. autoclass:: fastdds.DisablePositiveACKsQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicy.rst
new file mode 100644
index 000000000..672ebf7d0
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_durabilityqospolicy:
+
+.. rst-class:: api-ref
+
+DurabilityQosPolicy
+-------------------
+
+.. autoclass:: fastdds.DurabilityQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
new file mode 100644
index 000000000..b07d6ff11
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
@@ -0,0 +1,14 @@
+.. _python_api_pim_durabilityqospolicykind:
+
+.. rst-class:: api-ref
+
+DurabilityQosPolicyKind
+-----------------------
+
+.. autoclass:: fastdds.VOLATILE_DURABILITY_QOS
+
+.. autoclass:: fastdds.TRANSIENT_LOCAL_DURABILITY_QOS
+
+.. autoclass:: fastdds.TRANSIENT_DURABILITY_QOS
+
+.. autoclass:: fastdds.PERSISTENT_DURABILITY_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
new file mode 100644
index 000000000..cdbea5769
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_durabilityserviceqospolicy:
+
+.. rst-class:: api-ref
+
+DurabilityServiceQosPolicy
+--------------------------
+
+.. autoclass:: fastdds.DurabilityServiceQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
new file mode 100644
index 000000000..5698b2f90
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_entityfactoryqospolicy:
+
+.. rst-class:: api-ref
+
+EntityFactoryQosPolicy
+----------------------
+
+.. autoclass:: fastdds.EntityFactoryQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/genericdataqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/genericdataqospolicy.rst
new file mode 100644
index 000000000..71b392339
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/genericdataqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_genericdataqospolicy:
+
+.. rst-class:: api-ref
+
+GenericDataQosPolicy
+--------------------
+
+.. autoclass:: fastdds.GenericDataQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/groupdataqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/groupdataqospolicy.rst
new file mode 100644
index 000000000..d49c22b62
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/groupdataqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_groupdataqospolicy:
+
+.. rst-class:: api-ref
+
+GroupDataQosPolicy
+------------------
+
+.. autoclass:: fastdds.GroupDataQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicy.rst
new file mode 100644
index 000000000..08a96a4dc
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_historyqospolicy:
+
+.. rst-class:: api-ref
+
+HistoryQosPolicy
+----------------
+
+.. autoclass:: fastdds.HistoryQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicykind.rst
new file mode 100644
index 000000000..0cb55bbcc
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/historyqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_historyqospolicykind:
+
+.. rst-class:: api-ref
+
+HistoryQosPolicyKind
+--------------------
+
+.. autoclass:: fastdds.KEEP_LAST_HISTORY_QOS
+
+.. autoclass:: fastdds.KEEP_ALL_HISTORY_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
new file mode 100644
index 000000000..47e0b858a
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_latencybudgetqospolicy:
+
+.. rst-class:: api-ref
+
+LatencyBudgetQosPolicy
+----------------------
+
+.. autoclass:: fastdds.LatencyBudgetQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/lifespanqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/lifespanqospolicy.rst
new file mode 100644
index 000000000..6ab72ce65
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/lifespanqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_lifespanqospolicy:
+
+.. rst-class:: api-ref
+
+LifespanQosPolicy
+-----------------
+
+.. autoclass:: fastdds.LifespanQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicy.rst
new file mode 100644
index 000000000..639af3677
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_livelinessqospolicy:
+
+.. rst-class:: api-ref
+
+LivelinessQosPolicy
+-------------------
+
+.. autoclass:: fastdds.LivelinessQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
new file mode 100644
index 000000000..aabf37bdf
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
@@ -0,0 +1,12 @@
+.. _python_api_pim_livelinessqospolicykind:
+
+.. rst-class:: api-ref
+
+LivelinessQosPolicyKind
+-----------------------
+
+.. autoclass:: fastdds.AUTOMATIC_LIVELINESS_QOS
+
+.. autoclass:: fastdds.MANUAL_BY_PARTICIPANT_LIVELINESS_QOS
+
+.. autoclass:: fastdds.MANUAL_BY_TOPIC_LIVELINESS_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicy.rst
new file mode 100644
index 000000000..ede0b8450
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_ownershipqospolicy:
+
+.. rst-class:: api-ref
+
+OwnershipQosPolicy
+------------------
+
+.. autoclass:: fastdds.OwnershipQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
new file mode 100644
index 000000000..ae007297a
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_ownershipqospolicykind:
+
+.. rst-class:: api-ref
+
+OwnershipQosPolicyKind
+----------------------
+
+.. autoclass:: fastdds.SHARED_OWNERSHIP_QOS
+
+.. autoclass:: fastdds.EXCLUSIVE_OWNERSHIP_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
new file mode 100644
index 000000000..a691f6c40
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_ownershipstrengthqospolicy:
+
+.. rst-class:: api-ref
+
+OwnershipStrengthQosPolicy
+--------------------------
+
+.. autoclass:: fastdds.OwnershipStrengthQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
new file mode 100644
index 000000000..dc31d8fa3
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
@@ -0,0 +1,7 @@
+.. rst-class:: api-ref
+
+ParticipantResourceLimitsQos
+----------------------------
+
+.. TODO
+        .. autoclass:: ParticipantResourceLimitsQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/partition_t.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/partition_t.rst
new file mode 100644
index 000000000..0de519933
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/partition_t.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_partition_t:
+
+.. rst-class:: api-ref
+
+Partition_t
+-----------
+
+.. autoclass:: fastdds.Partition_t
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/partitionqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/partitionqospolicy.rst
new file mode 100644
index 000000000..36d0f3b4d
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/partitionqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_partitionqospolicy:
+
+.. rst-class:: api-ref
+
+PartitionQosPolicy
+------------------
+
+.. autoclass:: fastdds.PartitionQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/policy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/policy.rst
new file mode 100644
index 000000000..25dcdd1cb
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/policy.rst
@@ -0,0 +1,54 @@
+Policy
+======
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/core/policy/datarepresentationid.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/datarepresentationqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/datasharingqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/datasharingkind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/deadlineqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/destinationorderqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/disablepositiveacksqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/durabilityqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/durabilityserviceqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/entityfactoryqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/genericdataqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/groupdataqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/historyqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/historyqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/latencybudgetqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/lifespanqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/livelinessqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/ownershipqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/ownershipstrengthqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/participantresourcelimitsqos.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/partition_t.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/partitionqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/propertypolicyqos.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/qospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/qospolicyid_t.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/rtpsendpointqos.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/topicdataqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/transportconfigqos.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/typeconsistencykind.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/userdataqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
+    /fastdds/python_api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicy.rst
new file mode 100644
index 000000000..2e25520e1
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_presentationqospolicy:
+
+.. rst-class:: api-ref
+
+PresentationQosPolicy
+---------------------
+
+.. autoclass:: fastdds.PresentationQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
new file mode 100644
index 000000000..4db9591bd
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/presentationqospolicyaccessscopekind.rst
@@ -0,0 +1,12 @@
+.. _python_api_pim_presentationqospolicyaccessscopekind:
+
+.. rst-class:: api-ref
+
+PresentationQosPolicyAccessScopeKind
+------------------------------------
+
+.. autoclass:: fastdds.INSTANCE_PRESENTATION_QOS
+
+.. autoclass:: fastdds.TOPIC_PRESENTATION_QOS
+
+.. autoclass:: fastdds.GROUP_PRESENTATION_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/propertypolicyqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/propertypolicyqos.rst
new file mode 100644
index 000000000..33e131390
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/propertypolicyqos.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_propertypolicyqos:
+
+.. rst-class:: api-ref
+
+PropertyPolicyQos
+-----------------
+
+.. TODO
+   .. autoclass:: fastdds.PropertyPolicyQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
new file mode 100644
index 000000000..f7e2afb4a
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_publishmodeqospolicy:
+
+.. rst-class:: api-ref
+
+PublishModeQosPolicy
+--------------------
+
+.. autoclass:: fastdds.PublishModeQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
new file mode 100644
index 000000000..9cd2e4054
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/publishmodeqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_publishmodeqospolicykind:
+
+.. rst-class:: api-ref
+
+PublishModeQosPolicyKind
+------------------------
+
+.. autoclass:: fastdds.SYNCHRONOUS_PUBLISH_MODE
+
+.. autoclass:: fastdds.ASYNCHRONOUS_PUBLISH_MODE
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicy.rst
new file mode 100644
index 000000000..6e127c6b1
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_qospolicy:
+
+.. rst-class:: api-ref
+
+QosPolicy
+---------
+
+.. autoclass:: fastdds.QosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicyid_t.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicyid_t.rst
new file mode 100644
index 000000000..7b0d52259
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/qospolicyid_t.rst
@@ -0,0 +1,82 @@
+.. _python_api_pim_qospolicyid_t:
+
+.. rst-class:: api-ref
+
+QosPolicyId_t
+-------------
+
+.. autoclass:: fastdds.INVALID_QOS_POLICY_ID
+
+.. autoclass:: fastdds.USERDATA_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DURABILITY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.PRESENTATION_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DEADLINE_QOS_POLICY_ID
+
+.. autoclass:: fastdds.LATENCYBUDGET_QOS_POLICY_ID
+
+.. autoclass:: fastdds.OWNERSHIP_QOS_POLICY_ID
+
+.. autoclass:: fastdds.OWNERSHIPSTRENGTH_QOS_POLICY_ID
+
+.. autoclass:: fastdds.LIVELINESS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TIMEBASEDFILTER_QOS_POLICY_ID
+
+.. autoclass:: fastdds.PARTITION_QOS_POLICY_ID
+
+.. autoclass:: fastdds.RELIABILITY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DESTINATIONORDER_QOS_POLICY_ID
+
+.. autoclass:: fastdds.HISTORY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.RESOURCELIMITS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.ENTITYFACTORY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.WRITERDATALIFECYCLE_QOS_POLICY_ID
+
+.. autoclass:: fastdds.READERDATALIFECYCLE_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TOPICDATA_QOS_POLICY_ID
+
+.. autoclass:: fastdds.GROUPDATA_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TRANSPORTPRIORITY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.LIFESPAN_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DURABILITYSERVICE_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DATAREPRESENTATION_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TYPECONSISTENCYENFORCEMENT_QOS_POLICY_ID
+
+.. autoclass:: fastdds.DISABLEPOSITIVEACKS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.PARTICIPANTRESOURCELIMITS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.PROPERTYPOLICY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.PUBLISHMODE_QOS_POLICY_ID
+
+.. autoclass:: fastdds.READERRESOURCELIMITS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.RTPSENDPOINT_QOS_POLICY_ID
+
+.. autoclass:: fastdds.RTPSRELIABLEREADER_QOS_POLICY_ID
+
+.. autoclass:: fastdds.RTPSRELIABLEWRITER_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TRANSPORTCONFIG_QOS_POLICY_ID
+
+.. autoclass:: fastdds.TYPECONSISTENCY_QOS_POLICY_ID
+
+.. autoclass:: fastdds.WIREPROTOCOLCONFIG_QOS_POLICY_ID
+
+.. autoclass:: fastdds.WRITERRESOURCELIMITS_QOS_POLICY_ID
+
+.. autoclass:: fastdds.NEXT_QOS_POLICY_ID
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
new file mode 100644
index 000000000..2b1c4db2e
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/readerdatalifecycleqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_readerdatalifecycleqospolicy:
+
+.. rst-class:: api-ref
+
+ReaderDataLifecycleQosPolicy
+----------------------------
+
+.. autoclass:: fastdds.ReaderDataLifecycleQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
new file mode 100644
index 000000000..5a1add1d6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_reliabilityqospolicy:
+
+.. rst-class:: api-ref
+
+ReliabilityQosPolicy
+--------------------
+
+.. autoclass:: fastdds.ReliabilityQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
new file mode 100644
index 000000000..2ab1346e6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/reliabilityqospolicykind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_reliabilityqospolicykind:
+
+.. rst-class:: api-ref
+
+ReliabilityQosPolicyKind
+------------------------
+
+.. autoclass:: fastdds.BEST_EFFORT_RELIABILITY_QOS
+
+.. autoclass:: fastdds.RELIABLE_RELIABILITY_QOS
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
new file mode 100644
index 000000000..79b7c340e
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/resourcelimitsqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_resourcelimitsqospolicy:
+
+.. rst-class:: api-ref
+
+ResourceLimitsQosPolicy
+-----------------------
+
+.. autoclass:: fastdds.ResourceLimitsQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/rtpsendpointqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/rtpsendpointqos.rst
new file mode 100644
index 000000000..afc9a16a1
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/rtpsendpointqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_rtpsendpointqos:
+
+.. rst-class:: api-ref
+
+RTPSEndpointQos
+---------------
+
+.. autoclass:: fastdds.RTPSEndpointQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
new file mode 100644
index 000000000..4ccb22c6f
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/timebasedfilterqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_timebasedfilterqospolicy:
+
+.. rst-class:: api-ref
+
+TimeBasedFilterQosPolicy
+------------------------
+
+.. autoclass:: fastdds.TimeBasedFilterQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/topicdataqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/topicdataqospolicy.rst
new file mode 100644
index 000000000..fa97f40d4
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/topicdataqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_topicdataqospolicy:
+
+.. rst-class:: api-ref
+
+TopicDataQosPolicy
+------------------
+
+.. autoclass:: fastdds.TopicDataQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/transportconfigqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/transportconfigqos.rst
new file mode 100644
index 000000000..2d22beed6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/transportconfigqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_transportconfigqos:
+
+.. rst-class:: api-ref
+
+TransportConfigQos
+------------------
+
+.. autoclass:: fastdds.TransportConfigQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
new file mode 100644
index 000000000..c07ac62d2
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/transportpriorityqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_transportpriorityqospolicy:
+
+.. rst-class:: api-ref
+
+TransportPriorityQosPolicy
+--------------------------
+
+.. autoclass:: fastdds.TransportPriorityQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
new file mode 100644
index 000000000..27412d5f9
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencyenforcementqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_typeconsistencyenforcementqospolicy:
+
+.. rst-class:: api-ref
+
+TypeConsistencyEnforcementQosPolicy
+-----------------------------------
+
+.. autoclass:: fastdds.TypeConsistencyEnforcementQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencykind.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencykind.rst
new file mode 100644
index 000000000..ce0adc404
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/typeconsistencykind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_typeconsistencykind:
+
+.. rst-class:: api-ref
+
+TypeConsistencyKind
+-------------------
+
+.. autoclass:: fastdds.DISALLOW_TYPE_COERCION
+
+.. autoclass:: fastdds.ALLOW_TYPE_COERCION
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/userdataqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/userdataqospolicy.rst
new file mode 100644
index 000000000..936c078ef
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/userdataqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_userdataqospolicy:
+
+.. rst-class:: api-ref
+
+UserDataQosPolicy
+-----------------
+
+.. autoclass:: fastdds.UserDataQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
new file mode 100644
index 000000000..07a08dfc6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/wireprotocolconfigqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_wireprotocolconfigqos:
+
+.. rst-class:: api-ref
+
+WireProtocolConfigQos
+---------------------
+
+.. autoclass:: fastdds.WireProtocolConfigQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
new file mode 100644
index 000000000..437c4475d
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/writerdatalifecycleqospolicy.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_writerdatalifecycleqospolicy:
+
+.. rst-class:: api-ref
+
+WriterDataLifecycleQosPolicy
+----------------------------
+
+.. autoclass:: fastdds.WriterDataLifecycleQosPolicy
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst b/docs/fastdds/python_api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
new file mode 100644
index 000000000..ba7bccc2c
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/policy/writerresourcelimitsqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_writerresourcelimitsqos:
+
+.. rst-class:: api-ref
+
+WriterResourceLimitsQos
+-----------------------
+
+.. autoclass:: fastdds.WriterResourceLimitsQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/stackallocatedsequence.rst b/docs/fastdds/python_api_reference/dds_pim/core/stackallocatedsequence.rst
new file mode 100644
index 000000000..069adbc84
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/stackallocatedsequence.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_stackallocatedsequence:
+
+.. rst-class:: api-ref
+
+StackAllocatedSequence
+----------------------
+
+.. TODO
+   .. autoclass:: fastdds.StackAllocatedSequence
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/basestatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/basestatus.rst
new file mode 100644
index 000000000..5d0a3adfb
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/basestatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_basestatus:
+
+.. rst-class:: api-ref
+
+BaseStatus
+----------
+
+.. autoclass:: fastdds.BaseStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/deadlinemissedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/deadlinemissedstatus.rst
new file mode 100644
index 000000000..15f04b182
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/deadlinemissedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_deadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+DeadlineMissedStatus
+--------------------
+
+.. autoclass:: fastdds.DeadlineMissedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/incompatibleqosstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/incompatibleqosstatus.rst
new file mode 100644
index 000000000..e4924a77b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/incompatibleqosstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_incompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+IncompatibleQosStatus
+---------------------
+
+.. autoclass:: fastdds.IncompatibleQosStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/inconsistenttopicstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
new file mode 100644
index 000000000..42e9fc520
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_inconsistenttopicstatus:
+
+.. rst-class:: api-ref
+
+InconsistentTopicStatus
+-----------------------
+
+.. TODO
+   .. autoclass:: fastdds.InconsistentTopicStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/livelinesschangedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/livelinesschangedstatus.rst
new file mode 100644
index 000000000..df09a96c3
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/livelinesschangedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_livelinesschangedstatus:
+
+.. rst-class:: api-ref
+
+LivelinessChangedStatus
+-----------------------
+
+.. autoclass:: fastdds.LivelinessChangedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/matchedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/matchedstatus.rst
new file mode 100644
index 000000000..8a38c4b98
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/matchedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_matchedstatus:
+
+.. rst-class:: api-ref
+
+MatchedStatus
+-------------
+
+.. autoclass:: fastdds.MatchedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
new file mode 100644
index 000000000..09d9351b8
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_offereddeadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+OfferedDeadlineMissedStatus
+---------------------------
+
+.. TODO
+   .. autoclass:: fastdds.OfferedDeadlineMissedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/offeredincompatibleqosstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/offeredincompatibleqosstatus.rst
new file mode 100644
index 000000000..36db700ac
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/offeredincompatibleqosstatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_offeredincompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+OfferedIncompatibleQosStatus
+----------------------------
+
+.. TODO
+   .. autoclass:: fastdds.OfferedIncompatibleQosStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/publicationmatchedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/publicationmatchedstatus.rst
new file mode 100644
index 000000000..85ebebe72
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/publicationmatchedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_publicationmatchedstatus:
+
+.. rst-class:: api-ref
+
+PublicationMatchedStatus
+------------------------
+
+.. autoclass:: fastdds.PublicationMatchedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycount.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycount.rst
new file mode 100644
index 000000000..37075babe
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycount.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_qospolicycount:
+
+.. rst-class:: api-ref
+
+QosPolicyCount
+--------------
+
+.. autoclass:: fastdds.QosPolicyCount
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycountseq.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycountseq.rst
new file mode 100644
index 000000000..bb49cb1c1
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/qospolicycountseq.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_qospolicycountseq:
+
+.. rst-class:: api-ref
+
+QosPolicyCountSeq
+-----------------
+
+.. TODO
+   .. autoclass:: fastdds.QosPolicyCountSeq
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
new file mode 100644
index 000000000..25ad9119f
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_requesteddeadlinemissedstatus:
+
+.. rst-class:: api-ref
+
+RequestedDeadlineMissedStatus
+-----------------------------
+
+.. TODO
+   .. autoclass:: fastdds.RequestedDeadlineMissedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/requestedincompatibleqosstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/requestedincompatibleqosstatus.rst
new file mode 100644
index 000000000..20091526c
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/requestedincompatibleqosstatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_requestedincompatibleqosstatus:
+
+.. rst-class:: api-ref
+
+RequestedIncompatibleQosStatus
+------------------------------
+
+.. TODO
+   .. autoclass:: fastdds.RequestedIncompatibleQosStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
new file mode 100644
index 000000000..5243f85a6
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_livelinessloststatus:
+
+.. rst-class:: api-ref
+
+LivelinessLostStatus
+--------------------
+
+.. TODO
+   .. autoclass:: fastdds.LivelinessLostStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/sampleloststatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/sampleloststatus.rst
new file mode 100644
index 000000000..369c459b2
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/sampleloststatus.rst
@@ -0,0 +1,9 @@
+.. _python_api_pim_sampleloststatus:
+
+.. rst-class:: api-ref
+
+SampleLostStatus
+----------------
+
+.. TODO
+   .. autoclass:: fastdds.SampleLostStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatus.rst
new file mode 100644
index 000000000..a99a5a5f7
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_samplerejectedstatus:
+
+.. rst-class:: api-ref
+
+SampleRejectedStatus
+--------------------
+
+.. autoclass:: fastdds.SampleRejectedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatuskind.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
new file mode 100644
index 000000000..684b879f8
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
@@ -0,0 +1,14 @@
+.. _python_api_pim_samplerejectedstatuskind:
+
+.. rst-class:: api-ref
+
+SampleRejectedStatusKind
+------------------------
+
+.. autoclass:: fastdds.NOT_REJECTED
+
+.. autoclass:: fastdds.REJECTED_BY_INSTANCES_LIMIT
+
+.. autoclass:: fastdds.REJECTED_BY_SAMPLES_LIMIT
+
+.. autoclass:: fastdds.REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/status.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/status.rst
new file mode 100644
index 000000000..ec05889e7
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/status.rst
@@ -0,0 +1,25 @@
+Status
+======
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/core/status/basestatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/deadlinemissedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/incompatibleqosstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/inconsistenttopicstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/livelinesschangedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/matchedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/offereddeadlinemissedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/offeredincompatibleqosstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/publicationmatchedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/qospolicycount.rst
+    /fastdds/python_api_reference/dds_pim/core/status/qospolicycountseq.rst
+    /fastdds/python_api_reference/dds_pim/core/status/requesteddeadlinemissedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/requestedincompatibleqosstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/rtpslivelinessloststatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/sampleloststatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatus.rst
+    /fastdds/python_api_reference/dds_pim/core/status/samplerejectedstatuskind.rst
+    /fastdds/python_api_reference/dds_pim/core/status/statusmask.rst
+    /fastdds/python_api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/statusmask.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/statusmask.rst
new file mode 100644
index 000000000..af98ff4cc
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/statusmask.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_statusmask:
+
+.. rst-class:: api-ref
+
+StatusMask
+----------
+
+.. autoclass:: fastdds.StatusMask
diff --git a/docs/fastdds/python_api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst b/docs/fastdds/python_api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
new file mode 100644
index 000000000..00914416d
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/core/status/subscriptionmatchedstatus.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_subscriptionmatchedstatus:
+
+.. rst-class:: api-ref
+
+SubscriptionMatchedStatus
+-------------------------
+
+.. autoclass:: fastdds.SubscriptionMatchedStatus
diff --git a/docs/fastdds/python_api_reference/dds_pim/dds_pim.rst b/docs/fastdds/python_api_reference/dds_pim/dds_pim.rst
new file mode 100644
index 000000000..305a339f0
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/dds_pim.rst
@@ -0,0 +1,15 @@
+.. _python_api_pim_dds_dcps_pim:
+
+DDS DCPS PIM
+============
+
+Data Distribution Service (DDS) Data-Centric Publish-Subscribe (DCPS) Platform Independent Model (PIM) API
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/core/core.rst
+    /fastdds/python_api_reference/dds_pim/domain/domain.rst
+    /fastdds/python_api_reference/dds_pim/publisher/publisher.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/subscriber.rst
+    /fastdds/python_api_reference/dds_pim/topic/topic.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domain.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domain.rst
new file mode 100644
index 000000000..a3ba99f6d
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domain.rst
@@ -0,0 +1,11 @@
+Domain
+======
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/domain/domainparticipant.rst
+    /fastdds/python_api_reference/dds_pim/domain/domainparticipantfactory.rst
+    /fastdds/python_api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
+    /fastdds/python_api_reference/dds_pim/domain/domainparticipantlistener.rst
+    /fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipant.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipant.rst
new file mode 100644
index 000000000..da8a8e220
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipant.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_domainparticipant:
+
+.. rst-class:: api-ref
+
+DomainParticipant
+-----------------
+
+.. autoclass:: fastdds.DomainParticipant
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactory.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactory.rst
new file mode 100644
index 000000000..974b11a93
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactory.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_domainparticipantfactory:
+
+.. rst-class:: api-ref
+
+DomainParticipantFactory
+------------------------
+
+.. autoclass:: fastdds.DomainParticipantFactory
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactoryqos.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
new file mode 100644
index 000000000..9286124b3
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantfactoryqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_domainparticipantfactoryqos:
+
+.. rst-class:: api-ref
+
+DomainParticipantFactoryQos
+---------------------------
+
+.. autoclass:: fastdds.DomainParticipantFactoryQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantlistener.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantlistener.rst
new file mode 100644
index 000000000..e1afc2675
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantlistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_domainparticipantlistener:
+
+.. rst-class:: api-ref
+
+DomainParticipantListener
+-------------------------
+
+.. autoclass:: fastdds.DomainParticipantListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
new file mode 100644
index 000000000..92811b856
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
@@ -0,0 +1,12 @@
+.. _python_api_pim_domainparticipantqos:
+
+.. rst-class:: api-ref
+
+DomainParticipantQos
+--------------------
+
+.. autoclass:: fastdds.DomainParticipantQos
+
+
+.. autodata:: fastdds.PARTICIPANT_QOS_DEFAULT
+   :annotation: = <fastdds.DomainParticipantQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/datawriter.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriter.rst
new file mode 100644
index 000000000..79f393aff
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriter.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datawriter:
+
+.. rst-class:: api-ref
+
+DataWriter
+----------
+
+.. autoclass:: fastdds.DataWriter
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterlistener.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterlistener.rst
new file mode 100644
index 000000000..d67f0600b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterlistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datawriterlistener:
+
+.. rst-class:: api-ref
+
+DataWriterListener
+------------------
+
+.. autoclass:: fastdds.DataWriterListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
new file mode 100644
index 000000000..33c358870
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
@@ -0,0 +1,14 @@
+.. _python_api_pim_datawriterqos:
+
+.. rst-class:: api-ref
+
+DataWriterQos
+-------------
+
+.. autoclass:: fastdds.DataWriterQos
+
+.. autodata:: fastdds.DATAWRITER_QOS_DEFAULT
+   :annotation: = <fastdds.DataWriterQos>
+
+.. autodata:: fastdds.DATAWRITER_QOS_USE_TOPIC_QOS
+   :annotation: = <fastdds.DataWriterQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/publisher.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/publisher.rst
new file mode 100644
index 000000000..561c83ce9
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/publisher.rst
@@ -0,0 +1,13 @@
+Publisher
+=========
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/publisher/datawriter.rst
+    /fastdds/python_api_reference/dds_pim/publisher/datawriterlistener.rst
+    /fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
+    /fastdds/python_api_reference/dds_pim/publisher/publisher_class.rst
+    /fastdds/python_api_reference/dds_pim/publisher/publisherlistener.rst
+    /fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
+    /fastdds/python_api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/publisher_class.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/publisher_class.rst
new file mode 100644
index 000000000..11bb75234
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/publisher_class.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_publisher_class:
+
+.. rst-class:: api-ref
+
+Publisher
+---------
+
+.. autoclass:: fastdds.Publisher
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/publisherlistener.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherlistener.rst
new file mode 100644
index 000000000..741f97bca
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherlistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_publisherlistener:
+
+.. rst-class:: api-ref
+
+PublisherListener
+-----------------
+
+.. autoclass:: fastdds.PublisherListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
new file mode 100644
index 000000000..206fe65eb
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
@@ -0,0 +1,11 @@
+.. _python_api_pim_publisherqos:
+
+.. rst-class:: api-ref
+
+PublisherQos
+------------
+
+.. autoclass:: fastdds.PublisherQos
+
+.. autodata:: fastdds.PUBLISHER_QOS_DEFAULT
+   :annotation: = <fastdds.PublisherQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
new file mode 100644
index 000000000..2f985f4b5
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/rtpsreliablewriterqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_rtpsreliablewriterqos:
+
+.. rst-class:: api-ref
+
+RTPSReliableWriterQos
+---------------------
+
+.. autoclass:: fastdds.RTPSReliableWriterQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/datareader.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareader.rst
new file mode 100644
index 000000000..1936858e4
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareader.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datareader:
+
+.. rst-class:: api-ref
+
+DataReader
+----------
+
+.. autoclass:: fastdds.DataReader
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderlistener.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderlistener.rst
new file mode 100644
index 000000000..5c29aebd4
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderlistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_datareaderlistener:
+
+.. rst-class:: api-ref
+
+DataReaderListener
+------------------
+
+.. autoclass:: fastdds.DataReaderListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
new file mode 100644
index 000000000..d3ac655ae
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
@@ -0,0 +1,14 @@
+.. _python_api_pim_datareaderqos:
+
+.. rst-class:: api-ref
+
+DataReaderQos
+-------------
+
+.. autoclass:: fastdds.DataReaderQos
+
+.. autodata:: fastdds.DATAREADER_QOS_DEFAULT
+   :annotation: = <fastdds.DataReaderQos>
+
+.. autodata:: fastdds.DATAREADER_QOS_USE_TOPIC_QOS
+   :annotation: = <fastdds.DataReaderQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/instancestatekind.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/instancestatekind.rst
new file mode 100644
index 000000000..160058f2b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/instancestatekind.rst
@@ -0,0 +1,12 @@
+.. _python_api_pim_instancestatekind:
+
+.. rst-class:: api-ref
+
+InstanceStateKind
+-----------------
+
+.. autoclass:: fastdds.ALIVE_INSTANCE_STATE
+
+.. autoclass:: fastdds.NOT_ALIVE_DISPOSED_INSTANCE_STATE
+
+.. autoclass:: fastdds.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
new file mode 100644
index 000000000..be4141c52
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_readerresourcelimitsqos:
+
+.. rst-class:: api-ref
+
+ReaderResourceLimitsQos
+-----------------------
+
+.. autoclass:: fastdds.ReaderResourceLimitsQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
new file mode 100644
index 000000000..28702df97
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_rtpsreliablereaderqos:
+
+.. rst-class:: api-ref
+
+RTPSReliableReaderQos
+---------------------
+
+.. autoclass:: fastdds.RTPSReliableReaderQos
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/sampleinfo.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/sampleinfo.rst
new file mode 100644
index 000000000..c4ab446eb
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/sampleinfo.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_sampleinfo:
+
+.. rst-class:: api-ref
+
+SampleInfo
+----------
+
+.. autoclass:: fastdds.SampleInfo
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/samplestatekind.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/samplestatekind.rst
new file mode 100644
index 000000000..11ff14095
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/samplestatekind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_samplestatekind:
+
+.. rst-class:: api-ref
+
+SampleStateKind
+---------------
+
+.. autoclass:: fastdds.READ_SAMPLE_STATE
+
+.. autoclass:: fastdds.NOT_READ_SAMPLE_STATE
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber.rst
new file mode 100644
index 000000000..b2de10b62
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber.rst
@@ -0,0 +1,18 @@
+Subscriber
+==========
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/subscriber/datareader.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/datareaderlistener.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/instancestatekind.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/readerresourcelimitsqos.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/rtpsreliablereaderqos.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/sampleinfo.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/samplestatekind.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/subscriber_class.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/subscriberlistener.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
+    /fastdds/python_api_reference/dds_pim/subscriber/viewstatekind.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber_class.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber_class.rst
new file mode 100644
index 000000000..d284b5ff1
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriber_class.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_subscriber_class:
+
+.. rst-class:: api-ref
+
+Subscriber
+----------
+
+.. autoclass:: fastdds.Subscriber
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberlistener.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberlistener.rst
new file mode 100644
index 000000000..7c40dd282
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberlistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_subscriberlistener:
+
+.. rst-class:: api-ref
+
+SubscriberListener
+------------------
+
+.. autoclass:: fastdds.SubscriberListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
new file mode 100644
index 000000000..f0646cfba
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
@@ -0,0 +1,11 @@
+.. _python_api_pim_subscriberqos:
+
+.. rst-class:: api-ref
+
+SubscriberQos
+-------------
+
+.. autoclass:: fastdds.SubscriberQos
+
+.. autodata:: fastdds.SUBSCRIBER_QOS_DEFAULT
+   :annotation: = <fastdds.SubscriberQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/viewstatekind.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/viewstatekind.rst
new file mode 100644
index 000000000..aa03b7462
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/viewstatekind.rst
@@ -0,0 +1,10 @@
+.. _python_api_pim_viewstatekind:
+
+.. rst-class:: api-ref
+
+ViewStateKind
+-------------
+
+.. autoclass:: fastdds.NEW_VIEW_STATE
+
+.. autoclass:: fastdds.NOT_NEW_VIEW_STATE
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topic.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topic.rst
new file mode 100644
index 000000000..e8400c315
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topic.rst
@@ -0,0 +1,15 @@
+Topic
+=====
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/topic/topic_class.rst
+    /fastdds/python_api_reference/dds_pim/topic/topicdatatype.rst
+    /fastdds/python_api_reference/dds_pim/topic/topicdescription.rst
+    /fastdds/python_api_reference/dds_pim/topic/topiclistener.rst
+    /fastdds/python_api_reference/dds_pim/topic/topicqos.rst
+    /fastdds/python_api_reference/dds_pim/topic/typeidv1.rst
+    /fastdds/python_api_reference/dds_pim/topic/typeinformation.rst
+    /fastdds/python_api_reference/dds_pim/topic/typeobjectv1.rst
+    /fastdds/python_api_reference/dds_pim/topic/typesupport.rst
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topic_class.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topic_class.rst
new file mode 100644
index 000000000..f7955e65a
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topic_class.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_topic_class:
+
+.. rst-class:: api-ref
+
+Topic
+-----
+
+.. autoclass:: fastdds.Topic
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topicdatatype.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topicdatatype.rst
new file mode 100644
index 000000000..7db1497f5
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topicdatatype.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_topicdatatype:
+
+.. rst-class:: api-ref
+
+TopicDataType
+-------------
+
+.. autoclass:: fastdds.TopicDataType
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topicdescription.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topicdescription.rst
new file mode 100644
index 000000000..312045e25
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topicdescription.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_topicdescription:
+
+.. rst-class:: api-ref
+
+TopicDescription
+----------------
+
+.. autoclass:: fastdds.TopicDescription
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topiclistener.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topiclistener.rst
new file mode 100644
index 000000000..bd5dde4ca
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topiclistener.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_topiclistener:
+
+.. rst-class:: api-ref
+
+TopicListener
+-------------
+
+.. autoclass:: fastdds.TopicListener
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
new file mode 100644
index 000000000..91774105c
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
@@ -0,0 +1,11 @@
+.. _python_api_pim_topicqos:
+
+.. rst-class:: api-ref
+
+TopicQos
+--------
+
+.. autoclass:: fastdds.TopicQos
+
+.. autodata:: fastdds.TOPIC_QOS_DEFAULT
+   :annotation: = <fastdds.TopicQos>
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/typeidv1.rst b/docs/fastdds/python_api_reference/dds_pim/topic/typeidv1.rst
new file mode 100644
index 000000000..d8078c13a
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/typeidv1.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_typeidv1:
+
+.. rst-class:: api-ref
+
+TypeIdV1
+--------
+
+.. autoclass:: fastdds.TypeIdV1
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/typeinformation.rst b/docs/fastdds/python_api_reference/dds_pim/topic/typeinformation.rst
new file mode 100644
index 000000000..7282a2097
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/typeinformation.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_typeinformation:
+
+.. rst-class:: api-ref
+
+TypeInformation
+---------------
+
+.. autoclass:: fastdds.TypeInformation
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/typeobjectv1.rst b/docs/fastdds/python_api_reference/dds_pim/topic/typeobjectv1.rst
new file mode 100644
index 000000000..c591f2a3b
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/typeobjectv1.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_typeobjectv1:
+
+.. rst-class:: api-ref
+
+TypeObjectV1
+------------
+
+.. autoclass:: fastdds.TypeObjectV1
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/typesupport.rst b/docs/fastdds/python_api_reference/dds_pim/topic/typesupport.rst
new file mode 100644
index 000000000..a4946a9f4
--- /dev/null
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/typesupport.rst
@@ -0,0 +1,8 @@
+.. _python_api_pim_typesupport:
+
+.. rst-class:: api-ref
+
+TypeSupport
+-----------
+
+.. autoclass:: fastdds.TypeSupport
diff --git a/docs/fastdds/python_api_reference/python_api_reference.rst b/docs/fastdds/python_api_reference/python_api_reference.rst
new file mode 100644
index 000000000..115880c3c
--- /dev/null
+++ b/docs/fastdds/python_api_reference/python_api_reference.rst
@@ -0,0 +1,11 @@
+.. _python_api_reference:
+
+Python API Reference
+====================
+
+This section presents the most commonly used Python APIs provided by *Fast DDS*.
+
+.. toctree::
+    :titlesonly:
+
+    /fastdds/python_api_reference/dds_pim/dds_pim

From 244f9dce30b99d1c1d656d4d25ecf0c60809af2d Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Tue, 26 May 2026 12:24:07 +0200
Subject: [PATCH 2/8] First attempt to build API back

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 CMakeLists.txt      | 1 +
 README.md           | 1 +
 code/CMakeLists.txt | 1 +
 docs/conf.py        | 6 +++++-
 docs/index.rst      | 2 ++
 5 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e8e771ca..63b249d71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -148,6 +148,7 @@ if (BUILD_DOCUMENTATION)
         $<$<BOOL:${CMAKE_COMPILE_WARNING_AS_ERROR}>:-W>
         -b ${FASTDDS_DOCS_BUILDER}
         # Tell Breathe where to find the Doxygen output
+        -D breathe_projects.FastDDS=${DOXYGEN_OUTPUT_DIR}/xml
         ${PYTHON_EXTRA_FLAG}
         -d "${PROJECT_BINARY_DIR}/doctrees"
         ${SPHINX_SOURCE}
diff --git a/README.md b/README.md
index 03192734f..8bee770e0 100644
--- a/README.md
+++ b/README.md
@@ -202,6 +202,7 @@ cd <path_to_docs_repo>/fastdds-docs
 rm -rf build
 READTHEDOCS=True FASTDDS_BRANCH=<branch> FASTDDS_PYTHON_BRANCH=<branch> sphinx-build \
     -b html \
+    -D breathe_projects.FastDDS=<abs_path_to_docs_repo>/fastdds-docs/build/doxygen/xml \
     -d <abs_path_to_docs_repo>/fastdds-docs/build/doctrees \
     docs <abs_path_to_docs_repo>/fastdds-docs/build/html
 ```
diff --git a/code/CMakeLists.txt b/code/CMakeLists.txt
index 94ba65649..a5d576148 100644
--- a/code/CMakeLists.txt
+++ b/code/CMakeLists.txt
@@ -172,6 +172,7 @@ add_test(NAME docs.code_block_check.xml
 add_test(NAME docs.spell_check
     COMMAND
     ${SPHINX_EXECUTABLE} -Q -W --keep-going
+    -D breathe_projects.FastDDS=${DOXYGEN_OUTPUT_DIR}/xml
     -b spelling
     -d "${PROJECT_BINARY_DIR}/doctrees"
     ${CMAKE_SOURCE_DIR}/docs
diff --git a/docs/conf.py b/docs/conf.py
index 90cb25932..aa37535ee 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -531,6 +531,11 @@ def configure_doxyfile(
     )
     autodoc_mock_imports = ["_fastdds_python"]
 
+
+breathe_projects = {"FastDDS": os.path.abspath("{}/xml".format(output_dir))}
+breathe_default_project = "FastDDS"
+breathe_show_define_initializer = True
+
 # Tell `autodoc` where is the Pydoc documentation if it was set.
 if fastdds_python_imported_location:
     sys.path.insert(0, fastdds_python_imported_location)
@@ -668,7 +673,6 @@ def configure_doxyfile(
     "*/*/*/includes/*.rst",
     "*/*/*/*/includes/*.rst",
     "notes/previous_versions/v*.rst",
-    "*/api-reference/*"
 ]
 
 # The reST default role (used for this markup: `text`) to use for all
diff --git a/docs/index.rst b/docs/index.rst
index f6b7a9ed2..77d98bfff 100644
--- a/docs/index.rst
+++ b/docs/index.rst
@@ -55,6 +55,8 @@
    /fastdds/rpc_dds/rpc_dds_intro
    /fastdds/troubleshooting/troubleshooting
    /fastdds/faq/faq
+   /fastdds/api_reference/api_reference
+   /fastdds/python_api_reference/python_api_reference
 
 .. _index_gen:
 

From 1118ed44b240ac5d053ba534b839c5e7e44204eb Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Tue, 26 May 2026 16:08:26 +0200
Subject: [PATCH 3/8] Update ill formed rst

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 .../api_reference/dds_pim/core/policy/datarepresentationid.rst  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
index a221485ae..dea9fae93 100644
--- a/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
+++ b/docs/fastdds/api_reference/dds_pim/core/policy/datarepresentationid.rst
@@ -8,5 +8,5 @@ DataRepresentationId
 .. doxygenenum:: eprosima::fastdds::dds::DataRepresentationId
     :project: FastDDS
 
-.. doxygenvariable:: DEFAULT_DATA_REPRESENTATION
+.. doxygenvariable:: eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION
     :project: FastDDS

From 26c854a7fa97088f706c74f2ea75f3e94b751891 Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Tue, 26 May 2026 16:11:23 +0200
Subject: [PATCH 4/8] Delete RPC API reference

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 .../dds_pim/rpc/remoteinvalidargumenterror.rst    | 10 ----------
 .../dds_pim/rpc/remoteoutofresourceserror.rst     | 10 ----------
 .../dds_pim/rpc/remoteunknownexceptionerror.rst   | 10 ----------
 .../dds_pim/rpc/remoteunknownoperationerror.rst   | 10 ----------
 .../dds_pim/rpc/remoteunsupportederror.rst        | 10 ----------
 docs/fastdds/api_reference/dds_pim/rpc/rpc.rst    | 15 ---------------
 .../dds_pim/rpc/rpcbrokenpipeexception.rst        | 10 ----------
 .../api_reference/dds_pim/rpc/rpcexception.rst    | 10 ----------
 .../dds_pim/rpc/rpcfeedcancelledexception.rst     | 10 ----------
 .../dds_pim/rpc/rpcoperationerror.rst             | 10 ----------
 .../dds_pim/rpc/rpcremoteexception.rst            | 10 ----------
 .../api_reference/dds_pim/rpc/rpcrequest.rst      | 10 ----------
 .../api_reference/dds_pim/rpc/rpcserver.rst       | 10 ----------
 .../dds_pim/rpc/rpcserverschedulingstrategy.rst   | 10 ----------
 .../api_reference/dds_pim/rpc/rpcstatuscode.rst   |  9 ---------
 .../dds_pim/rpc/rpctimeoutexception.rst           | 10 ----------
 16 files changed, 164 deletions(-)
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
 delete mode 100644 docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst

diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
deleted file mode 100644
index 6fbd3682f..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_remoteinvalidargumenterror:
-
-.. rst-class:: api-ref
-
-RemoteInvalidArgumentError
---------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteInvalidArgumentError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
deleted file mode 100644
index 64f4d147e..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_remoteoutofresourceserror:
-
-.. rst-class:: api-ref
-
-RemoteOutOfResourcesError
--------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteOutOfResourcesError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
deleted file mode 100644
index f1d6f7a8f..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_remoteunknownexceptionerror:
-
-.. rst-class:: api-ref
-
-RemoteUnknownExceptionError
----------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnknownExceptionError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
deleted file mode 100644
index fffa6c0a4..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_remoteunknownoperationerror:
-
-.. rst-class:: api-ref
-
-RemoteUnknownOperationError
----------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnknownOperationError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst b/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
deleted file mode 100644
index d7e535b63..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_remoteunsupportederror:
-
-.. rst-class:: api-ref
-
-RemoteUnsupportedError
-----------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RemoteUnsupportedError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst
index 7d22f6968..a944cace8 100644
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst
+++ b/docs/fastdds/api_reference/dds_pim/rpc/rpc.rst
@@ -5,26 +5,11 @@ RPC over DDS
     :titlesonly:
 
     /fastdds/api_reference/dds_pim/rpc/remoteexceptioncode_t.rst
-    /fastdds/api_reference/dds_pim/rpc/remoteinvalidargumenterror.rst
-    /fastdds/api_reference/dds_pim/rpc/remoteoutofresourceserror.rst
-    /fastdds/api_reference/dds_pim/rpc/remoteunknownexceptionerror.rst
-    /fastdds/api_reference/dds_pim/rpc/remoteunknownoperationerror.rst
-    /fastdds/api_reference/dds_pim/rpc/remoteunsupportederror.rst
     /fastdds/api_reference/dds_pim/rpc/replier.rst
     /fastdds/api_reference/dds_pim/rpc/replierqos.rst
     /fastdds/api_reference/dds_pim/rpc/requester.rst
     /fastdds/api_reference/dds_pim/rpc/requesterqos.rst
     /fastdds/api_reference/dds_pim/rpc/requestinfo.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
     /fastdds/api_reference/dds_pim/rpc/rpcentity.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcexception.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcserver.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
-    /fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
-    /fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
     /fastdds/api_reference/dds_pim/rpc/service.rst
     /fastdds/api_reference/dds_pim/rpc/servicetypesupport.rst
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
deleted file mode 100644
index 9ef95c338..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcbrokenpipeexception.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcbrokenpipeexception:
-
-.. rst-class:: api-ref
-
-RpcBrokenPipeException
-----------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcBrokenPipeException
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst
deleted file mode 100644
index ef46dcbb4..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcexception.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcexception:
-
-.. rst-class:: api-ref
-
-RpcException
-------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcException
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
deleted file mode 100644
index c3563fff9..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcfeedcancelledexception.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcfeedcancelledexception:
-
-.. rst-class:: api-ref
-
-RpcFeedCancelledException
--------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcFeedCancelledException
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
deleted file mode 100644
index 651f10b59..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcoperationerror.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcoperationerror:
-
-.. rst-class:: api-ref
-
-RpcOperationError
------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcOperationError
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
deleted file mode 100644
index 57e0a0abd..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcremoteexception.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcremoteexception:
-
-.. rst-class:: api-ref
-
-RpcRemoteException
-------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcRemoteException
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
deleted file mode 100644
index dc669ffb7..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcrequest.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcrequest:
-
-.. rst-class:: api-ref
-
-RpcRequest
-----------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcRequest
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst
deleted file mode 100644
index 08ccaf7a7..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcserver.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcserver:
-
-.. rst-class:: api-ref
-
-RpcServer
----------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcServer
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
deleted file mode 100644
index 4bc9ab546..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcserverschedulingstrategy.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpcserverschedulingstrategy:
-
-.. rst-class:: api-ref
-
-RpcServerSchedulingStrategy
----------------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcServerSchedulingStrategy
-    :project: FastDDS
-    :members:
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
deleted file mode 100644
index bffebf72a..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpcstatuscode.rst
+++ /dev/null
@@ -1,9 +0,0 @@
-.. _api_pim_rpcstatuscode:
-
-.. rst-class:: api-ref
-
-RpcStatusCode
--------------
-
-.. doxygentypedef:: eprosima::fastdds::dds::rpc::RpcStatusCode
-    :project: FastDDS
diff --git a/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst b/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
deleted file mode 100644
index 8431a696e..000000000
--- a/docs/fastdds/api_reference/dds_pim/rpc/rpctimeoutexception.rst
+++ /dev/null
@@ -1,10 +0,0 @@
-.. _api_pim_rpctimeoutexception:
-
-.. rst-class:: api-ref
-
-RpcTimeoutException
--------------------
-
-.. doxygenclass:: eprosima::fastdds::dds::rpc::RpcTimeoutException
-    :project: FastDDS
-    :members:

From 78efed6f450e1f4bb00ebd2018a407cc6bb155c7 Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Tue, 26 May 2026 16:34:21 +0200
Subject: [PATCH 5/8] Test API checker

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 .github/workflows/reusable-ubuntu-ci.yml |   8 +
 README.md                                |  17 +
 utils/scripts/audit_api_reference.py     | 515 +++++++++++++++++++++++
 3 files changed, 540 insertions(+)
 create mode 100644 utils/scripts/audit_api_reference.py

diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 3a97a4c14..de1c19325 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -162,6 +162,14 @@ jobs:
           ref: ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }}
           path: ${{ github.workspace }}/src/fastdds_python
 
+      - name: Audit API reference wrappers
+        run: |
+          python3 src/fastdds-docs/utils/scripts/audit_api_reference.py \
+            --fastdds-dir src/fastdds \
+            --report compare \
+            --show 1000 \
+            --fail-on-findings
+
       - name: Fetch Fast DDS Docs CI dependencies
         if: ${{ inputs.run-tests == true }}
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
diff --git a/README.md b/README.md
index 8bee770e0..8d72fd4fa 100644
--- a/README.md
+++ b/README.md
@@ -213,6 +213,23 @@ Using either CMake or colcon, the documentation is built using Sphinx's `html` b
 However, Sphinx supports several other building formats, which are enabled through [Sphinx builders](https://www.sphinx-doc.org/en/master/usage/builders/index.html).
 Once a builder is selected, the documentation can be built using the [Simulating Read the Docs](#simulating-read-the-docs) approach, specifying the appropriate builder with the `-b` CLI option
 
+### Auditing API reference wrappers
+
+The repository includes an audit helper that compares the manually maintained
+API reference wrapper files with the public Fast DDS API exported by a Fast DDS checkout.
+This is also run in Ubuntu CI.
+
+```bash
+python3 utils/scripts/audit_api_reference.py \
+    --fastdds-dir <path_to_fastdds_repo> \
+    --report compare \
+    --show 1000 \
+    --fail-on-findings
+```
+
+The `compare` report only shows discrepancies: extra wrapper files, wrapper files
+that need updates, and missing public API targets.
+
 ## Project structure
 
 The project is structured as follows:
diff --git a/utils/scripts/audit_api_reference.py b/utils/scripts/audit_api_reference.py
new file mode 100644
index 000000000..d01dd1434
--- /dev/null
+++ b/utils/scripts/audit_api_reference.py
@@ -0,0 +1,515 @@
+#!/usr/bin/env python3
+
+"""Audit Fast DDS API reference pages against Doxygen XML.
+
+This script compares the manually maintained ``docs/fastdds/api_reference`` RST
+wrappers with the public API exported by a Fast-DDS checkout.
+
+It is intentionally conservative:
+- it audits exact targets for ``class``, ``struct``, ``enum``, ``typedef``,
+  ``variable``, and ``define`` directives
+- it skips strict validation of ``doxygenfunction`` targets because Breathe
+  signatures are harder to normalize reliably from raw XML
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import re
+import shutil
+import subprocess
+import sys
+import tempfile
+import textwrap
+import xml.etree.ElementTree as ET
+
+from collections import defaultdict
+from dataclasses import dataclass
+from pathlib import Path
+
+
+REPO_ROOT = Path(__file__).resolve().parents[2]
+API_REFERENCE_ROOT = REPO_ROOT / "docs" / "fastdds" / "api_reference"
+PUBLIC_API_PATH_PREFIXES = ("dds/", "rtps/", "statistics/")
+PUBLIC_API_EXCLUDE_PATH_PREFIXES = ("utils/",)
+PUBLIC_API_EXCLUDE_NAME_PATTERNS = (
+    r"::iterator$",
+    r"::const_iterator$",
+    r"^std::hash<",
+    r"traits<",
+    r"::Context$",
+    r"::Entry$",
+    r"::FilterSampleInfo$",
+    r"::IteratorIndex$",
+    r"::AllocationConfiguration$",
+    r"::UserWriteData$",
+    r"::UserWriteDataPtr$",
+)
+DOXYGEN_KINDS = {
+    "class": "doxygenclass",
+    "struct": "doxygenstruct",
+    "enum": "doxygenenum",
+    "typedef": "doxygentypedef",
+    "variable": "doxygenvariable",
+    "define": "doxygendefine",
+}
+
+
+@dataclass(frozen=True)
+class DocTarget:
+    path: Path
+    kind: str
+    target: str
+
+    @property
+    def symbol_leaf(self) -> str:
+        leaf = self.target.split("::")[-1]
+        return re.sub(r"\(.*\)$", "", leaf)
+
+
+@dataclass(frozen=True)
+class ApiCompound:
+    kind: str
+    name: str
+    file_path: str
+
+
+@dataclass(frozen=True)
+class Filters:
+    include_path_prefixes: tuple[str, ...]
+    exclude_path_prefixes: tuple[str, ...]
+    exclude_name_patterns: tuple[str, ...]
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Audit docs/fastdds/api_reference against a Fast-DDS checkout or Doxygen XML."
+    )
+    parser.add_argument(
+        "--fastdds-dir",
+        type=Path,
+        help="Path to a Fast-DDS checkout. If set, Doxygen XML is generated automatically.",
+    )
+    parser.add_argument(
+        "--doxygen-xml-dir",
+        type=Path,
+        help="Path to an existing Doxygen XML directory. Skips Doxygen generation.",
+    )
+    parser.add_argument(
+        "--api-reference-dir",
+        type=Path,
+        default=API_REFERENCE_ROOT,
+        help=f"API reference root to audit. Default: {API_REFERENCE_ROOT}",
+    )
+    parser.add_argument(
+        "--show",
+        type=int,
+        default=30,
+        help="Maximum number of entries to print per section.",
+    )
+    parser.add_argument(
+        "--profile",
+        choices=("all-installed", "public-api"),
+        default="public-api",
+        help=(
+            "Filtering profile for reported compounds. "
+            "'public-api' keeps only high-level installed API candidates. "
+            "'all-installed' reports everything found in installed public headers."
+        ),
+    )
+    parser.add_argument(
+        "--include-path-prefix",
+        action="append",
+        default=[],
+        help="Only include compounds declared in headers under these prefixes, e.g. dds/ or rtps/.",
+    )
+    parser.add_argument(
+        "--exclude-path-prefix",
+        action="append",
+        default=[],
+        help="Exclude compounds declared in headers under these prefixes.",
+    )
+    parser.add_argument(
+        "--exclude-name-regex",
+        action="append",
+        default=[],
+        help="Exclude compounds whose qualified names match these regular expressions.",
+    )
+    parser.add_argument(
+        "--report",
+        choices=("summary", "compare", "json"),
+        default="summary",
+        help=(
+            "'summary' prints the audit summary, "
+            "'compare' prints only discrepancies between the present and expected wrapper sets, "
+            "'json' emits the same data as JSON."
+        ),
+    )
+    parser.add_argument(
+        "--fail-on-findings",
+        action="store_true",
+        help=(
+            "Exit with code 1 when extra wrapper files, missing wrapper targets, "
+            "or wrapper files needing updates are detected."
+        ),
+    )
+    args = parser.parse_args()
+
+    if not args.fastdds_dir and not args.doxygen_xml_dir:
+        parser.error("one of --fastdds-dir or --doxygen-xml-dir is required")
+
+    return args
+
+
+def parse_doc_targets(api_reference_dir: Path) -> list[DocTarget]:
+    targets: list[DocTarget] = []
+    for rst_path in sorted(api_reference_dir.rglob("*.rst")):
+        content = rst_path.read_text(encoding="utf-8")
+        for kind, target in re.findall(r"^\.\.\s+(doxygen\w+)::\s+(.+)$", content, re.M):
+            targets.append(
+                DocTarget(
+                    path=rst_path.relative_to(api_reference_dir),
+                    kind=kind,
+                    target=target,
+                )
+            )
+    return targets
+
+
+def infer_file_kind(path: Path) -> str:
+    stem = path.stem
+    if stem in {"api_reference", "dds_pim", "rtps", "statistics", "transport", "log"}:
+        return "index"
+    if stem.endswith(("_toc", "_class")):
+        return "index"
+    if stem in {
+        "core",
+        "policy",
+        "status",
+        "condition",
+        "domain",
+        "publisher",
+        "subscriber",
+        "topic",
+        "xtypes",
+        "rpc",
+        "participant",
+        "reader",
+        "writer",
+        "history",
+        "resources",
+        "attributes",
+        "data",
+        "common",
+        "transport_generic_interfaces",
+        "chaining_transport",
+        "shm_transport",
+        "tcp_transport",
+        "udp_transport",
+        "colors",
+    }:
+        return "index"
+    return "wrapper"
+
+
+def generate_doxygen_xml(fastdds_dir: Path) -> Path:
+    include_dir = fastdds_dir / "include" / "fastdds"
+    if not include_dir.is_dir():
+        raise SystemExit(f"Fast-DDS include directory not found: {include_dir}")
+
+    if shutil.which("doxygen") is None:
+        raise SystemExit("doxygen is required when using --fastdds-dir")
+
+    tmpdir = Path(tempfile.mkdtemp(prefix="fastdds-api-audit-"))
+    output_dir = tmpdir / "doxygen"
+    doxyfile = tmpdir / "Doxyfile"
+    doxyfile.write_text(
+        textwrap.dedent(
+            f"""\
+            PROJECT_NAME = FastDDSAudit
+            OUTPUT_DIRECTORY = {output_dir}
+            INPUT = {include_dir}
+            FILE_PATTERNS = *.h *.hpp *.hxx
+            RECURSIVE = YES
+            EXTRACT_ALL = YES
+            HIDE_UNDOC_MEMBERS = NO
+            HIDE_UNDOC_CLASSES = NO
+            GENERATE_HTML = NO
+            GENERATE_XML = YES
+            XML_OUTPUT = xml
+            QUIET = YES
+            WARNINGS = NO
+            ENABLE_PREPROCESSING = YES
+            MACRO_EXPANSION = YES
+            EXPAND_ONLY_PREDEF = NO
+            PREDEFINED = HAVE_SECURITY
+            TYPEDEF_HIDES_STRUCT = NO
+            FULL_PATH_NAMES = YES
+            STRIP_FROM_PATH = {fastdds_dir / 'include'}
+            CLANG_ASSISTED_PARSING = NO
+            """
+        ),
+        encoding="utf-8",
+    )
+    subprocess.run(["doxygen", str(doxyfile)], check=True)
+    return output_dir / "xml"
+
+
+def _is_public_file(file_path: str) -> bool:
+    return (
+        bool(file_path)
+        and
+        file_path.endswith((".h", ".hpp", ".hxx"))
+        and "/detail/" not in file_path
+        and "/config/" not in file_path
+        and not file_path.endswith(".idl")
+    )
+
+
+def build_filters(args: argparse.Namespace) -> Filters:
+    include_path_prefixes = tuple(args.include_path_prefix)
+    exclude_path_prefixes = tuple(args.exclude_path_prefix)
+    exclude_name_patterns = tuple(args.exclude_name_regex)
+
+    if args.profile == "public-api":
+        if not include_path_prefixes:
+            include_path_prefixes = PUBLIC_API_PATH_PREFIXES
+        if not exclude_path_prefixes:
+            exclude_path_prefixes = PUBLIC_API_EXCLUDE_PATH_PREFIXES
+        if not exclude_name_patterns:
+            exclude_name_patterns = PUBLIC_API_EXCLUDE_NAME_PATTERNS
+
+    return Filters(
+        include_path_prefixes=include_path_prefixes,
+        exclude_path_prefixes=exclude_path_prefixes,
+        exclude_name_patterns=exclude_name_patterns,
+    )
+
+
+def compound_matches_filters(compound: ApiCompound, filters: Filters) -> bool:
+    if filters.include_path_prefixes and not any(
+        compound.file_path.startswith(prefix) for prefix in filters.include_path_prefixes
+    ):
+        return False
+    if any(compound.file_path.startswith(prefix) for prefix in filters.exclude_path_prefixes):
+        return False
+    if any(re.search(pattern, compound.name) for pattern in filters.exclude_name_patterns):
+        return False
+    return True
+
+
+def parse_doxygen_xml(xml_dir: Path) -> tuple[set[tuple[str, str]], list[ApiCompound]]:
+    exact_targets: set[tuple[str, str]] = set()
+    compounds: list[ApiCompound] = []
+
+    for xml_path in xml_dir.glob("*.xml"):
+        if xml_path.name == "index.xml":
+            continue
+
+        root = ET.parse(xml_path).getroot()
+        compound = root.find(".//compounddef")
+        if compound is None:
+            continue
+
+        compound_kind = compound.get("kind", "")
+        compound_name = compound.findtext("compoundname", default="")
+        compound_location = compound.find("location")
+        compound_file_path = compound_location.get("file", "") if compound_location is not None else ""
+        if (
+            compound_kind in {"class", "struct"}
+            and "eprosima::fastdds" in compound_name
+            and _is_public_file(compound_file_path)
+        ):
+            exact_targets.add((DOXYGEN_KINDS[compound_kind], compound_name))
+            compounds.append(ApiCompound(compound_kind, compound_name, compound_file_path))
+
+        for member in compound.findall(".//memberdef"):
+            member_kind = member.get("kind", "")
+            if member_kind not in {"enum", "typedef", "variable", "define"}:
+                continue
+            if member.get("prot") not in (None, "public"):
+                continue
+            member_location = member.find("location")
+            member_file_path = member_location.get("file", "") if member_location is not None else compound_file_path
+            if not _is_public_file(member_file_path):
+                continue
+
+            if member_kind == "define":
+                symbol = member.findtext("name", default="")
+            else:
+                symbol = member.findtext("qualifiedname", default="") or member.findtext("name", default="")
+
+            if symbol:
+                exact_targets.add((DOXYGEN_KINDS[member_kind], symbol))
+
+    return exact_targets, compounds
+
+
+def summarize(
+    doc_targets: list[DocTarget],
+    exact_targets: set[tuple[str, str]],
+    api_compounds: list[ApiCompound],
+    filters: Filters,
+) -> tuple[list[Path], list[Path], list[ApiCompound]]:
+    file_results: dict[Path, list[bool]] = defaultdict(list)
+
+    documented_compounds = {
+        target.target
+        for target in doc_targets
+        if target.kind in {"doxygenclass", "doxygenstruct"}
+    }
+
+    for target in doc_targets:
+        if target.kind == "doxygenfunction":
+            continue
+        file_results[target.path].append((target.kind, target.target) in exact_targets)
+
+    all_stale_files = sorted(path for path, hits in file_results.items() if hits and not any(hits))
+    partial_stale_files = sorted(path for path, hits in file_results.items() if any(hits) and not all(hits))
+    missing_compounds = sorted(
+        (
+            compound
+            for compound in api_compounds
+            if compound_matches_filters(compound, filters)
+            if compound.name not in documented_compounds
+        ),
+        key=lambda compound: compound.name,
+    )
+
+    return all_stale_files, partial_stale_files, missing_compounds
+
+
+def build_compare_lists(
+    api_reference_dir: Path,
+    doc_targets: list[DocTarget],
+    all_stale_files: list[Path],
+    partial_stale_files: list[Path],
+    missing_compounds: list[ApiCompound],
+) -> dict[str, list[str]]:
+    documented_wrapper_files = sorted(
+        {
+            target.path
+            for target in doc_targets
+            if infer_file_kind(target.path) == "wrapper"
+        }
+    )
+    stale_set = set(all_stale_files)
+    should_exist_files = sorted(path for path in documented_wrapper_files if path not in stale_set)
+    extra_present_files = sorted(path for path in documented_wrapper_files if path in stale_set)
+
+    # When the filtered profile finds compounds with no wrapper page, keep them as
+    # "missing targets" instead of inventing file names from inconsistent conventions.
+    missing_targets = [compound.name for compound in missing_compounds]
+
+    return {
+        "present_files": [str(path) for path in documented_wrapper_files],
+        "should_exist_files": [str(path) for path in should_exist_files],
+        "extra_present_files": [str(path) for path in extra_present_files],
+        "partial_stale_files": [str(path) for path in sorted(partial_stale_files)],
+        "missing_targets": missing_targets,
+    }
+
+
+def print_section(title: str, entries: list[str], show: int) -> None:
+    print(f"{title}: {len(entries)}")
+    for entry in entries[:show]:
+        print(f"  - {entry}")
+    if len(entries) > show:
+        print(f"  ... {len(entries) - show} more")
+
+
+def print_compare(compare_data: dict[str, list[str]], show: int) -> None:
+    print_section("Present wrapper files that should not exist", compare_data["extra_present_files"], show)
+    print()
+    print_section("Wrapper files that should exist but need updates", compare_data["partial_stale_files"], show)
+    print()
+    print_section("Public API targets with no wrapper file", compare_data["missing_targets"], show)
+
+
+def has_findings(compare_data: dict[str, list[str]]) -> bool:
+    return any(
+        compare_data[key]
+        for key in ("extra_present_files", "partial_stale_files", "missing_targets")
+    )
+
+
+def main() -> int:
+    args = parse_args()
+    filters = build_filters(args)
+
+    xml_dir = args.doxygen_xml_dir
+    if xml_dir is None:
+        xml_dir = generate_doxygen_xml(args.fastdds_dir.resolve())
+    elif not xml_dir.is_dir():
+        raise SystemExit(f"Doxygen XML directory not found: {xml_dir}")
+
+    api_reference_dir = args.api_reference_dir.resolve()
+    if not api_reference_dir.is_dir():
+        raise SystemExit(f"API reference directory not found: {api_reference_dir}")
+
+    doc_targets = parse_doc_targets(api_reference_dir)
+    exact_targets, api_compounds = parse_doxygen_xml(xml_dir)
+    all_stale_files, partial_stale_files, missing_compounds = summarize(
+        doc_targets, exact_targets, api_compounds, filters
+    )
+    compare_data = build_compare_lists(
+        api_reference_dir,
+        doc_targets,
+        all_stale_files,
+        partial_stale_files,
+        missing_compounds,
+    )
+
+    if args.report == "json":
+        print(
+            json.dumps(
+                {
+                    "api_reference_root": str(api_reference_dir),
+                    "doxygen_xml_dir": str(xml_dir),
+                    "profile": args.profile,
+                    "documented_targets": len(doc_targets),
+                    "audited_exact_targets": len(exact_targets),
+                    **compare_data,
+                },
+                indent=2,
+                sort_keys=True,
+            )
+        )
+        return 0
+
+    if args.report == "compare":
+        print(f"API reference root: {api_reference_dir}")
+        print(f"Doxygen XML: {xml_dir}")
+        print(f"Profile: {args.profile}")
+        print()
+        print_compare(compare_data, args.show)
+        return 1 if args.fail_on_findings and has_findings(compare_data) else 0
+
+    print(f"API reference root: {api_reference_dir}")
+    print(f"Doxygen XML: {xml_dir}")
+    print(f"Documented targets: {len(doc_targets)}")
+    print(f"Audited exact targets: {len(exact_targets)}")
+    print(f"Profile: {args.profile}")
+    print("Function directives are not audited strictly.")
+    print()
+
+    print_section("Files whose audited targets are all unresolved", [str(p) for p in all_stale_files], args.show)
+    print()
+    print_section(
+        "Files whose audited targets are only partially unresolved",
+        [str(p) for p in partial_stale_files],
+        args.show,
+    )
+    print()
+    print_section(
+        "Public class/struct compounds with no wrapper page",
+        [f"{compound.name} [{compound.file_path}]" for compound in missing_compounds],
+        args.show,
+    )
+
+    return 1 if args.fail_on_findings and has_findings(compare_data) else 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

From afe168cc8264246a3381901b630fdb02c5d0f729 Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Wed, 27 May 2026 08:06:39 +0200
Subject: [PATCH 6/8] Add log directory that was ignored

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 docs/fastdds/api_reference/log/colors.rst     |  11 ++
 .../api_reference/log/colors/colors.rst       | 127 ++++++++++++++++++
 .../api_reference/log/file_consumer.rst       |  10 ++
 docs/fastdds/api_reference/log/log.rst        |  20 +++
 docs/fastdds/api_reference/log/log_class.rst  |  10 ++
 .../api_reference/log/log_consumer.rst        |  10 ++
 docs/fastdds/api_reference/log/logerror.rst   |   7 +
 docs/fastdds/api_reference/log/loginfo.rst    |   7 +
 docs/fastdds/api_reference/log/logwarning.rst |   7 +
 .../api_reference/log/ostream_consumer.rst    |  10 ++
 .../api_reference/log/stdout_consumer.rst     |  10 ++
 .../api_reference/log/stdouterr_consumer.rst  |  10 ++
 12 files changed, 239 insertions(+)
 create mode 100644 docs/fastdds/api_reference/log/colors.rst
 create mode 100644 docs/fastdds/api_reference/log/colors/colors.rst
 create mode 100644 docs/fastdds/api_reference/log/file_consumer.rst
 create mode 100644 docs/fastdds/api_reference/log/log.rst
 create mode 100644 docs/fastdds/api_reference/log/log_class.rst
 create mode 100644 docs/fastdds/api_reference/log/log_consumer.rst
 create mode 100644 docs/fastdds/api_reference/log/logerror.rst
 create mode 100644 docs/fastdds/api_reference/log/loginfo.rst
 create mode 100644 docs/fastdds/api_reference/log/logwarning.rst
 create mode 100644 docs/fastdds/api_reference/log/ostream_consumer.rst
 create mode 100644 docs/fastdds/api_reference/log/stdout_consumer.rst
 create mode 100644 docs/fastdds/api_reference/log/stdouterr_consumer.rst

diff --git a/docs/fastdds/api_reference/log/colors.rst b/docs/fastdds/api_reference/log/colors.rst
new file mode 100644
index 000000000..e4288fada
--- /dev/null
+++ b/docs/fastdds/api_reference/log/colors.rst
@@ -0,0 +1,11 @@
+.. _api_log_colors:
+
+Colors
+======
+
+A collection of macros for ease the stream coloring.
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/log/colors/colors.rst
diff --git a/docs/fastdds/api_reference/log/colors/colors.rst b/docs/fastdds/api_reference/log/colors/colors.rst
new file mode 100644
index 000000000..60e322c34
--- /dev/null
+++ b/docs/fastdds/api_reference/log/colors/colors.rst
@@ -0,0 +1,127 @@
+.. _api_log_colors_blue:
+
+Color Blue
+----------
+
+.. doxygendefine:: C_BLUE
+    :project: FastDDS
+
+.. _api_log_colors_bright:
+
+Color Bright
+------------
+
+.. doxygendefine:: C_BRIGHT
+    :project: FastDDS
+
+.. _api_log_colors_bright_blue:
+
+Color Bright Blue
+-----------------
+
+.. doxygendefine:: C_B_BLUE
+    :project: FastDDS
+
+.. _api_log_colors_bright_cyan:
+
+Color Bright Cyan
+-----------------
+
+.. doxygendefine:: C_B_CYAN
+    :project: FastDDS
+
+.. _api_log_colors_bright_green:
+
+Color Bright Green
+------------------
+
+.. doxygendefine:: C_B_GREEN
+    :project: FastDDS
+
+.. _api_log_colors_bright_magenta:
+
+Color Bright Magenta
+--------------------
+
+.. doxygendefine:: C_B_MAGENTA
+    :project: FastDDS
+
+.. _api_log_colors_bright_red:
+
+Color Bright Red
+----------------
+
+.. doxygendefine:: C_B_RED
+    :project: FastDDS
+
+.. _api_log_colors_bright_white:
+
+Color Bright White
+------------------
+
+.. doxygendefine:: C_B_WHITE
+    :project: FastDDS
+
+.. _api_log_colors_bright_yellow:
+
+Color Bright Yellow
+-------------------
+
+.. doxygendefine:: C_B_YELLOW
+    :project: FastDDS
+
+.. _api_log_colors_cyan:
+
+Color Cyan
+----------
+
+.. doxygendefine:: C_CYAN
+    :project: FastDDS
+
+.. _api_log_colors_def:
+
+Color Def
+---------
+
+.. doxygendefine:: C_DEF
+    :project: FastDDS
+
+.. _api_log_colors_green:
+
+Color Green
+-----------
+
+.. doxygendefine:: C_GREEN
+    :project: FastDDS
+
+.. _api_log_colors_magenta:
+
+Color Magenta
+-------------
+
+.. doxygendefine:: C_MAGENTA
+    :project: FastDDS
+
+.. _api_log_colors_red:
+
+Color Red
+---------
+
+.. doxygendefine:: C_RED
+    :project: FastDDS
+
+.. _api_log_colors_white:
+
+Color White
+-----------
+
+.. doxygendefine:: C_WHITE
+    :project: FastDDS
+
+.. _api_log_colors_yellow:
+
+Color Yellow
+------------
+
+.. doxygendefine:: C_YELLOW
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/log/file_consumer.rst b/docs/fastdds/api_reference/log/file_consumer.rst
new file mode 100644
index 000000000..317aeb858
--- /dev/null
+++ b/docs/fastdds/api_reference/log/file_consumer.rst
@@ -0,0 +1,10 @@
+.. _api_log_file_consumer:
+
+.. rst-class:: api-ref
+
+FileConsumer
+------------
+
+.. doxygenclass:: eprosima::fastdds::dds::FileConsumer
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/log/log.rst b/docs/fastdds/api_reference/log/log.rst
new file mode 100644
index 000000000..dc125d048
--- /dev/null
+++ b/docs/fastdds/api_reference/log/log.rst
@@ -0,0 +1,20 @@
+.. _api_log:
+
+LOG
+===
+
+*eProsima Fast DDS* Logging Module API
+
+.. toctree::
+   :titlesonly:
+
+   /fastdds/api_reference/log/colors.rst
+   /fastdds/api_reference/log/file_consumer.rst
+   /fastdds/api_reference/log/log_class.rst
+   /fastdds/api_reference/log/log_consumer.rst
+   /fastdds/api_reference/log/logerror.rst
+   /fastdds/api_reference/log/loginfo.rst
+   /fastdds/api_reference/log/logwarning.rst
+   /fastdds/api_reference/log/ostream_consumer.rst
+   /fastdds/api_reference/log/stdout_consumer.rst
+   /fastdds/api_reference/log/stdouterr_consumer.rst
diff --git a/docs/fastdds/api_reference/log/log_class.rst b/docs/fastdds/api_reference/log/log_class.rst
new file mode 100644
index 000000000..b976e09f0
--- /dev/null
+++ b/docs/fastdds/api_reference/log/log_class.rst
@@ -0,0 +1,10 @@
+.. _api_log_log:
+
+.. rst-class:: api-ref
+
+Log
+---
+
+.. doxygenclass:: eprosima::fastdds::dds::Log
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/log/log_consumer.rst b/docs/fastdds/api_reference/log/log_consumer.rst
new file mode 100644
index 000000000..e8f20b824
--- /dev/null
+++ b/docs/fastdds/api_reference/log/log_consumer.rst
@@ -0,0 +1,10 @@
+.. _api_log_log_consumer:
+
+.. rst-class:: api-ref
+
+LogConsumer
+-----------
+
+.. doxygenclass:: eprosima::fastdds::dds::LogConsumer
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/log/logerror.rst b/docs/fastdds/api_reference/log/logerror.rst
new file mode 100644
index 000000000..89a436c17
--- /dev/null
+++ b/docs/fastdds/api_reference/log/logerror.rst
@@ -0,0 +1,7 @@
+.. _api_log_log_error:
+
+EPROSIMA_LOG_ERROR
+------------------
+
+.. doxygendefine:: EPROSIMA_LOG_ERROR
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/log/loginfo.rst b/docs/fastdds/api_reference/log/loginfo.rst
new file mode 100644
index 000000000..9bb64c89f
--- /dev/null
+++ b/docs/fastdds/api_reference/log/loginfo.rst
@@ -0,0 +1,7 @@
+.. _api_log_log_info:
+
+EPROSIMA_LOG_INFO
+-----------------
+
+.. doxygendefine:: EPROSIMA_LOG_INFO
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/log/logwarning.rst b/docs/fastdds/api_reference/log/logwarning.rst
new file mode 100644
index 000000000..2f4ab67a0
--- /dev/null
+++ b/docs/fastdds/api_reference/log/logwarning.rst
@@ -0,0 +1,7 @@
+.. _api_log_log_warning:
+
+EPROSIMA_LOG_WARNING
+--------------------
+
+.. doxygendefine:: EPROSIMA_LOG_WARNING
+    :project: FastDDS
diff --git a/docs/fastdds/api_reference/log/ostream_consumer.rst b/docs/fastdds/api_reference/log/ostream_consumer.rst
new file mode 100644
index 000000000..47c7eff52
--- /dev/null
+++ b/docs/fastdds/api_reference/log/ostream_consumer.rst
@@ -0,0 +1,10 @@
+.. _api_log_ostream_consumer:
+
+.. rst-class:: api-ref
+
+OStreamConsumer
+---------------
+
+.. doxygenclass:: eprosima::fastdds::dds::OStreamConsumer
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/log/stdout_consumer.rst b/docs/fastdds/api_reference/log/stdout_consumer.rst
new file mode 100644
index 000000000..abe134640
--- /dev/null
+++ b/docs/fastdds/api_reference/log/stdout_consumer.rst
@@ -0,0 +1,10 @@
+.. _api_log_stdout_consumer:
+
+.. rst-class:: api-ref
+
+StdoutConsumer
+--------------
+
+.. doxygenclass:: eprosima::fastdds::dds::StdoutConsumer
+    :project: FastDDS
+    :members:
diff --git a/docs/fastdds/api_reference/log/stdouterr_consumer.rst b/docs/fastdds/api_reference/log/stdouterr_consumer.rst
new file mode 100644
index 000000000..0de7320d0
--- /dev/null
+++ b/docs/fastdds/api_reference/log/stdouterr_consumer.rst
@@ -0,0 +1,10 @@
+.. _api_log_stdouterr_consumer:
+
+.. rst-class:: api-ref
+
+StdoutErrConsumer
+-----------------
+
+.. doxygenclass:: eprosima::fastdds::dds::StdoutErrConsumer
+    :project: FastDDS
+    :members:

From 14e346950c846b0fce26465ba4b5de1b85cff4fd Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Wed, 27 May 2026 12:28:07 +0200
Subject: [PATCH 7/8] Fix spellcheck

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 docs/api_spelling_wordlist.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docs/api_spelling_wordlist.txt b/docs/api_spelling_wordlist.txt
index 362cca997..3a5920237 100644
--- a/docs/api_spelling_wordlist.txt
+++ b/docs/api_spelling_wordlist.txt
@@ -87,6 +87,7 @@ DataWriterQos
 datawriters
 DeadlineQosPolicy
 deserialized
+deserializing
 destinated
 DestinationOrderQosPolicy
 Destructor
@@ -228,6 +229,7 @@ QosPolicyCount
 rdata
 ReadCondition
 ReceiverResource
+reimplemented
 ReliabilityQosPolicy
 ReplyPubSubType
 ReplyTypeSupport

From 160a94457b04a80f17f6655193f7a2663a900289 Mon Sep 17 00:00:00 2001
From: Emilio Cuesta <emiliocuesta@eprosima.com>
Date: Thu, 28 May 2026 07:44:20 +0200
Subject: [PATCH 8/8] Apply revision

Signed-off-by: Emilio Cuesta <emiliocuesta@eprosima.com>
---
 utils/scripts/audit_api_reference.py | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/utils/scripts/audit_api_reference.py b/utils/scripts/audit_api_reference.py
index d01dd1434..983bcd1ad 100644
--- a/utils/scripts/audit_api_reference.py
+++ b/utils/scripts/audit_api_reference.py
@@ -1,5 +1,19 @@
 #!/usr/bin/env python3
 
+# Copyright 2026 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.
+
 """Audit Fast DDS API reference pages against Doxygen XML.
 
 This script compares the manually maintained ``docs/fastdds/api_reference`` RST