From 0b0fd98a9157818c8e86bcc4e3ab92fb212b2db9 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Sat, 22 May 2021 12:35:42 -0700
Subject: [PATCH 01/23] init

---
 recipes/fast-dds/all/conandata.yml |   4 ++
 recipes/fast-dds/all/conanfile.py  | 101 +++++++++++++++++++++++++++++
 recipes/fast-dds/config.yml        |   3 +
 3 files changed, 108 insertions(+)
 create mode 100644 recipes/fast-dds/all/conandata.yml
 create mode 100644 recipes/fast-dds/all/conanfile.py
 create mode 100644 recipes/fast-dds/config.yml

diff --git a/recipes/fast-dds/all/conandata.yml b/recipes/fast-dds/all/conandata.yml
new file mode 100644
index 0000000000000..1523e39f714d7
--- /dev/null
+++ b/recipes/fast-dds/all/conandata.yml
@@ -0,0 +1,4 @@
+sources:
+  "2.3.2":
+    url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.2.tar.gz"
+    sha256: "4D8183CF4D37C3DE9E6FD28D2850DD08023A9079001C4880B23C95F0D8C0B5CE"
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
new file mode 100644
index 0000000000000..9a531c0043ee5
--- /dev/null
+++ b/recipes/fast-dds/all/conanfile.py
@@ -0,0 +1,101 @@
+from conans import ConanFile, CMake, tools
+import os
+from conans.tools import load
+from conans.errors import ConanInvalidConfiguration
+from pathlib import Path
+import textwrap
+
+class FastDDSConan(ConanFile):
+
+    name = "fast-dds"
+    license = "Apache-2.0"
+    version = "2.3.2"
+    homepage = "https://fast-dds.docs.eprosima.com/"
+    url = "https://github.com/conan-io/conan-center-index"
+    description = "The most complete DDS - Proven: Plenty of success cases."
+    topics = ("Memory","Allocator")
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "shared":          [True, False]
+    }
+    default_options = {
+        "shared":            False
+    }
+    generators = "cmake", "cmake_find_package"
+    _cmake = None
+
+    @property
+    def _pkg_cmake(self):
+        return os.path.join(
+            self.package_folder,
+            "lib",
+            "foonathan_memory",
+            "cmake"
+        )
+    
+    @property
+    def _pkg_lib(self):
+        return os.path.join(
+            self.package_folder,
+            "lib"
+        )
+
+    @property
+    def _pkg_share(self):
+        return os.path.join(
+            self.package_folder,
+            "share"
+        )
+
+    @property
+    def _source_subfolder(self):
+        return "source_subfolder"
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def _get_configured_cmake(self):
+        if self._cmake:
+            pass 
+        else:
+            self._cmake = CMake(self)
+        self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
+        self._cmake.configure(
+            source_dir = self._source_subfolder
+        )
+        return self._cmake
+
+    def requirements(self):
+        self.requires("tinyxml2/7.1.0")
+        self.requires("asio/1.11.0@bincrafters/stable")
+        self.requires("fast-cdr/1.0.21")
+        self.requires("foo-mem-ven/1.1.0")
+
+    def source(self):
+        tools.get(**self.conan_data["sources"][self.version], strip_root=True,
+                  destination=self._source_subfolder)
+
+    def build(self):
+
+        cmake = self._get_configured_cmake()
+        cmake.build()
+
+    def package(self):
+        cmake = self._get_configured_cmake()
+        cmake.install()
+        self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
+        lib = tools.relative_dirs(self._pkg_lib)[0]
+        lib_new = lib.replace("-0.6.2-dbg","") \
+                     .replace("-0.6.2","")
+        tools.rename(
+            os.path.join(self._pkg_lib,lib),
+            os.path.join(self._pkg_lib,lib_new)
+        )
+        tools.rmdir(self._pkg_cmake)
+        tools.rmdir(self._pkg_share)
+
+    def package_info(self):
+        self.cpp_info.names["cmake_find_package"] = "foonathan_memory"
+        self.cpp_info.names["cmake_find_multi_package"] = "foonathan_memory"
+        self.cpp_info.libs = ["foonathan_memory"]
diff --git a/recipes/fast-dds/config.yml b/recipes/fast-dds/config.yml
new file mode 100644
index 0000000000000..aee8de619ec30
--- /dev/null
+++ b/recipes/fast-dds/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "2.3.2":
+    folder: all

From 025a4abe4329396664cb42eb87715a070d045398 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Sun, 23 May 2021 01:43:08 -0700
Subject: [PATCH 02/23] compile success, link fails

---
 recipes/fast-dds/all/conandata.yml            |  4 ++
 recipes/fast-dds/all/conanfile.py             | 38 +++++++++++--------
 .../all/patches/2.3.2-0001-add-conan.patch    | 13 +++++++
 3 files changed, 40 insertions(+), 15 deletions(-)
 create mode 100644 recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch

diff --git a/recipes/fast-dds/all/conandata.yml b/recipes/fast-dds/all/conandata.yml
index 1523e39f714d7..fb20ec39d1b29 100644
--- a/recipes/fast-dds/all/conandata.yml
+++ b/recipes/fast-dds/all/conandata.yml
@@ -2,3 +2,7 @@ sources:
   "2.3.2":
     url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.2.tar.gz"
     sha256: "4D8183CF4D37C3DE9E6FD28D2850DD08023A9079001C4880B23C95F0D8C0B5CE"
+patches:
+  "2.3.2":
+    - base_path: "source_subfolder"
+      patch_file: "patches/2.3.2-0001-add-conan.patch"
\ No newline at end of file
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 9a531c0043ee5..391d18539c787 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -13,13 +13,15 @@ class FastDDSConan(ConanFile):
     homepage = "https://fast-dds.docs.eprosima.com/"
     url = "https://github.com/conan-io/conan-center-index"
     description = "The most complete DDS - Proven: Plenty of success cases."
-    topics = ("Memory","Allocator")
+    topics = ("DDS","Middleware","IPC")
     settings = "os", "compiler", "build_type", "arch"
     options = {
-        "shared":          [True, False]
+        "shared":           [True, False],
+        "with_ssl":         [True, False]
     }
     default_options = {
-        "shared":            False
+        "shared":           True,
+        "with_ssl":         False
     }
     generators = "cmake", "cmake_find_package"
     _cmake = None
@@ -54,6 +56,8 @@ def _source_subfolder(self):
     def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
+        if self.options.shared:
+            self.options["fast-cdr"].shared = True
 
     def _get_configured_cmake(self):
         if self._cmake:
@@ -61,6 +65,7 @@ def _get_configured_cmake(self):
         else:
             self._cmake = CMake(self)
         self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
+        self._cmake.definitions["NO_TLS"] = True
         self._cmake.configure(
             source_dir = self._source_subfolder
         )
@@ -72,11 +77,19 @@ def requirements(self):
         self.requires("fast-cdr/1.0.21")
         self.requires("foo-mem-ven/1.1.0")
 
+    def _patch_sources(self):
+        for patch in self.conan_data["patches"][self.version]:
+            tools.patch(**patch)
+
     def source(self):
         tools.get(**self.conan_data["sources"][self.version], strip_root=True,
                   destination=self._source_subfolder)
 
+    def imports(self):
+        self.copy("*")
+
     def build(self):
+        self._patch_sources()
 
         cmake = self._get_configured_cmake()
         cmake.build()
@@ -85,17 +98,12 @@ def package(self):
         cmake = self._get_configured_cmake()
         cmake.install()
         self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
-        lib = tools.relative_dirs(self._pkg_lib)[0]
-        lib_new = lib.replace("-0.6.2-dbg","") \
-                     .replace("-0.6.2","")
-        tools.rename(
-            os.path.join(self._pkg_lib,lib),
-            os.path.join(self._pkg_lib,lib_new)
-        )
-        tools.rmdir(self._pkg_cmake)
-        tools.rmdir(self._pkg_share)
 
     def package_info(self):
-        self.cpp_info.names["cmake_find_package"] = "foonathan_memory"
-        self.cpp_info.names["cmake_find_multi_package"] = "foonathan_memory"
-        self.cpp_info.libs = ["foonathan_memory"]
+        self.cpp_info.names["cmake_find_package"] = "fast-dds"
+        self.cpp_info.names["cmake_find_multi_package"] = "fast-dds"
+        self.cpp_info.libs = ["fastrtps"]
+        self.cpp_info.requires = [
+            "fastcdr::fastcdr",
+            "tinyxml2::tinyxml2"
+        ]
diff --git a/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch b/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch
new file mode 100644
index 0000000000000..09eccdb11c55c
--- /dev/null
+++ b/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8a9cb0209..7a970b481 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -88,6 +88,8 @@ else()
+     else()
+         cmake_policy(SET CMP0048 NEW)
+         project(fastrtps VERSION "${LIB_VERSION_STR}" LANGUAGES C CXX)
++        include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
++        conan_basic_setup()
+     endif()
+ endif()
+ 

From 061712947770e729e70121e6704bf11635efee5d Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Sun, 23 May 2021 12:24:00 -0700
Subject: [PATCH 03/23] idk

---
 recipes/fast-dds/all/conanfile.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 391d18539c787..7d489791de96b 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -57,7 +57,7 @@ def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
         if self.options.shared:
-            self.options["fast-cdr"].shared = True
+            self.options["fast-cdr"].shared = False
 
     def _get_configured_cmake(self):
         if self._cmake:
@@ -66,6 +66,7 @@ def _get_configured_cmake(self):
             self._cmake = CMake(self)
         self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
         self._cmake.definitions["NO_TLS"] = True
+        self._cmake.definitions["EPROSIMA_INSTALLER_MINION"] = False
         self._cmake.configure(
             source_dir = self._source_subfolder
         )

From fb234478648f3b8bc4299694e76ec1c3bd5d940f Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Mon, 24 May 2021 02:20:06 -0700
Subject: [PATCH 04/23] allow true

---
 recipes/fast-dds/all/conanfile.py | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 7d489791de96b..9a52b940a6e0e 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -57,7 +57,7 @@ def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
         if self.options.shared:
-            self.options["fast-cdr"].shared = False
+            self.options["fast-cdr"].shared = True
 
     def _get_configured_cmake(self):
         if self._cmake:
@@ -86,9 +86,6 @@ def source(self):
         tools.get(**self.conan_data["sources"][self.version], strip_root=True,
                   destination=self._source_subfolder)
 
-    def imports(self):
-        self.copy("*")
-
     def build(self):
         self._patch_sources()
 

From 76921b472efd13ba2ec3db84f67eaf601a03a826 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Tue, 15 Jun 2021 11:14:59 -0700
Subject: [PATCH 05/23] add patches

---
 recipes/fast-dds/all/conanfile.py | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 9a52b940a6e0e..132b91800523e 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -25,6 +25,7 @@ class FastDDSConan(ConanFile):
     }
     generators = "cmake", "cmake_find_package"
     _cmake = None
+    exports_sources =  ["patches/**"]
 
     @property
     def _pkg_cmake(self):
@@ -56,8 +57,6 @@ def _source_subfolder(self):
     def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
-        if self.options.shared:
-            self.options["fast-cdr"].shared = True
 
     def _get_configured_cmake(self):
         if self._cmake:
@@ -76,7 +75,7 @@ def requirements(self):
         self.requires("tinyxml2/7.1.0")
         self.requires("asio/1.11.0@bincrafters/stable")
         self.requires("fast-cdr/1.0.21")
-        self.requires("foo-mem-ven/1.1.0")
+        self.requires("foonathan-memory/0.7.0")
 
     def _patch_sources(self):
         for patch in self.conan_data["patches"][self.version]:
@@ -102,6 +101,8 @@ def package_info(self):
         self.cpp_info.names["cmake_find_multi_package"] = "fast-dds"
         self.cpp_info.libs = ["fastrtps"]
         self.cpp_info.requires = [
-            "fastcdr::fastcdr",
-            "tinyxml2::tinyxml2"
+            "fast-cdr::fast-cdr",
+            "tinyxml2::tinyxml2",
+            "asio::asio",
+            "foonathan-memory::foonathan-memory"
         ]

From 53c0bbaac4055831d6808c21a70c6a4ad5351ca3 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Wed, 16 Jun 2021 08:07:11 -0700
Subject: [PATCH 06/23] working status

---
 recipes/fast-dds/all/CMakeLists.txt           |   7 +
 recipes/fast-dds/all/conandata.yml            |   4 -
 recipes/fast-dds/all/conanfile.py             | 119 ++++++----
 .../all/patches/2.3.2-0001-add-conan.patch    |  13 --
 .../fast-dds/all/test_package/CMakeLists.txt  |   7 +
 .../HelloWorldExample/CMakeLists.txt          |  23 ++
 .../HelloWorldExample/HelloWorld.cxx          | 207 ++++++++++++++++++
 .../HelloWorldExample/HelloWorld.h            | 206 +++++++++++++++++
 .../HelloWorldExample/HelloWorld.idl          |   5 +
 .../HelloWorldPubSubTypes.cxx                 | 133 +++++++++++
 .../HelloWorldExample/HelloWorldPubSubTypes.h |  57 +++++
 .../HelloWorldExample/HelloWorldPublisher.cpp | 167 ++++++++++++++
 .../HelloWorldExample/HelloWorldPublisher.h   |  62 ++++++
 .../HelloWorldSubscriber.cpp                  | 127 +++++++++++
 .../HelloWorldExample/HelloWorldSubscriber.h  |  87 ++++++++
 .../HelloWorldExample/HelloWorld_main.cpp     |  60 +++++
 .../test_package/HelloWorldExample/Makefile   | 102 +++++++++
 .../fast-dds/all/test_package/conanfile.py    |  17 ++
 18 files changed, 1347 insertions(+), 56 deletions(-)
 create mode 100644 recipes/fast-dds/all/CMakeLists.txt
 delete mode 100644 recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch
 create mode 100644 recipes/fast-dds/all/test_package/CMakeLists.txt
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
 create mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
 create mode 100644 recipes/fast-dds/all/test_package/conanfile.py

diff --git a/recipes/fast-dds/all/CMakeLists.txt b/recipes/fast-dds/all/CMakeLists.txt
new file mode 100644
index 0000000000000..d17aaff199b4a
--- /dev/null
+++ b/recipes/fast-dds/all/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 2.8.11)
+project(cmake_wrapper)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup()
+
+add_subdirectory("source_subfolder")
diff --git a/recipes/fast-dds/all/conandata.yml b/recipes/fast-dds/all/conandata.yml
index fb20ec39d1b29..1523e39f714d7 100644
--- a/recipes/fast-dds/all/conandata.yml
+++ b/recipes/fast-dds/all/conandata.yml
@@ -2,7 +2,3 @@ sources:
   "2.3.2":
     url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.2.tar.gz"
     sha256: "4D8183CF4D37C3DE9E6FD28D2850DD08023A9079001C4880B23C95F0D8C0B5CE"
-patches:
-  "2.3.2":
-    - base_path: "source_subfolder"
-      patch_file: "patches/2.3.2-0001-add-conan.patch"
\ No newline at end of file
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 132b91800523e..bab704982c935 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -5,104 +5,145 @@
 from pathlib import Path
 import textwrap
 
+
 class FastDDSConan(ConanFile):
 
     name = "fast-dds"
     license = "Apache-2.0"
-    version = "2.3.2"
     homepage = "https://fast-dds.docs.eprosima.com/"
     url = "https://github.com/conan-io/conan-center-index"
-    description = "The most complete DDS - Proven: Plenty of success cases."
-    topics = ("DDS","Middleware","IPC")
+    description = "The most complete OSS DDS implementation for embedded systems."
+    topics = ("DDS", "Middleware", "IPC")
     settings = "os", "compiler", "build_type", "arch"
     options = {
         "shared":           [True, False],
+        "fPIC":             [True, False],
         "with_ssl":         [True, False]
     }
     default_options = {
-        "shared":           True,
+        "shared":           False,
+        "fPIC":             True,
         "with_ssl":         False
     }
     generators = "cmake", "cmake_find_package"
     _cmake = None
-    exports_sources =  ["patches/**"]
+    exports_sources = ["CMakeLists.txt"]
 
     @property
-    def _pkg_cmake(self):
+    def _pkg_share(self):
         return os.path.join(
             self.package_folder,
-            "lib",
-            "foonathan_memory",
-            "cmake"
+            "share"
         )
-    
+
     @property
-    def _pkg_lib(self):
+    def _pkg_tools(self):
         return os.path.join(
             self.package_folder,
-            "lib"
+            "tools"
         )
 
     @property
-    def _pkg_share(self):
+    def _pkg_bin(self):
         return os.path.join(
             self.package_folder,
-            "share"
+            "bin"
         )
 
     @property
     def _source_subfolder(self):
         return "source_subfolder"
 
+    def configure(self):
+        if self.options.shared:
+            del self.options.fPIC
+
     def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
-
-    def _get_configured_cmake(self):
-        if self._cmake:
-            pass 
-        else:
-            self._cmake = CMake(self)
-        self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
-        self._cmake.definitions["NO_TLS"] = True
-        self._cmake.definitions["EPROSIMA_INSTALLER_MINION"] = False
-        self._cmake.configure(
-            source_dir = self._source_subfolder
-        )
+        
+    def _configure_cmake(self):
+        if not self._cmake:
+            self._cmake = CMake(self)           
+            self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
+            self._cmake.definitions["NO_TLS"] = not self.options.with_ssl
+            self._cmake.definitions["SECURITY"] = self.options.with_ssl
+            self._cmake.definitions["EPROSIMA_INSTALLER_MINION"] = False
+            self._cmake.configure()
         return self._cmake
 
     def requirements(self):
         self.requires("tinyxml2/7.1.0")
-        self.requires("asio/1.11.0@bincrafters/stable")
+        self.requires("asio/1.18.2")
         self.requires("fast-cdr/1.0.21")
         self.requires("foonathan-memory/0.7.0")
-
-    def _patch_sources(self):
-        for patch in self.conan_data["patches"][self.version]:
-            tools.patch(**patch)
+        if self.options.with_ssl:
+            self.requires("openssl/1.1.1k")
 
     def source(self):
         tools.get(**self.conan_data["sources"][self.version], strip_root=True,
                   destination=self._source_subfolder)
 
     def build(self):
-        self._patch_sources()
-
-        cmake = self._get_configured_cmake()
+        cmake = self._configure_cmake()
         cmake.build()
 
     def package(self):
-        cmake = self._get_configured_cmake()
+        cmake = self._configure_cmake()
         cmake.install()
+        tools.rmdir(self._pkg_share)
+        # tmp because you cannot move bin to bin/discovery directly
+        tools.mkdir(os.path.join(self.package_folder,"tmp"))
+        tools.rename(
+            src=self._pkg_bin,
+            dst=os.path.join(self.package_folder,"tmp","discovery")
+        )
+        tools.mkdir(self._pkg_bin)
+        tools.rename(
+            src=os.path.join(self.package_folder,"tmp","discovery"),
+            dst=os.path.join(self._pkg_bin,"discovery")
+        )
+        tools.rmdir(os.path.join(self.package_folder,"tmp"))
+        tools.rename(
+            src=self._pkg_tools,
+            dst=os.path.join(self._pkg_bin,"tools")
+        )
         self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
 
     def package_info(self):
-        self.cpp_info.names["cmake_find_package"] = "fast-dds"
-        self.cpp_info.names["cmake_find_multi_package"] = "fast-dds"
-        self.cpp_info.libs = ["fastrtps"]
-        self.cpp_info.requires = [
+        self.cpp_info.names["cmake_find_package"] = "fastdds"
+        self.cpp_info.names["cmake_find_multi_package"] = "fastdds"
+        # component fastrtps 
+        self.cpp_info.components["fastrtps"].name = "fastrtps"
+        self.cpp_info.components["fastrtps"].libs = ["fastrtps"]
+        self.cpp_info.components["fastrtps"].requires = [
             "fast-cdr::fast-cdr",
             "tinyxml2::tinyxml2",
             "asio::asio",
             "foonathan-memory::foonathan-memory"
         ]
+        self.cpp_info.components["fastrtps"].system_libs = [
+                "pthread",
+                "rt",
+                "dl"
+            ]
+        # component fast-discovery
+        self.cpp_info.components["fast-discovery"].name = "fast-discovery"
+        self.cpp_info.components["fast-discovery"].requires = [
+            "fastrtps"
+        ]
+        if self.settings.os in ["Linux","Macos","Neutrino"]:        
+            self.cpp_info.components["fast-discovery"].system_libs = [
+                "pthread",
+                "rt"
+            ]
+        self.cpp_info.components["fast-discovery"].bindirs = [os.path.join("bin","discovery")]
+        bin_path = os.path.join(self.package_folder, "bin","discovery")
+        self.output.info("Appending PATH env var for fast-dds::fast-discovery with : {}".format(bin_path)),
+        self.env_info.PATH.append(bin_path)
+        # component tools
+        self.cpp_info.components["tools"].name = "tools"
+        self.cpp_info.components["tools"].bindirs = [os.path.join("bin","tools")]
+        bin_path = os.path.join(self.package_folder, "bin","tools")
+        self.output.info("Appending PATH env var for fast-dds::tools with : {}".format(bin_path)),
+        self.env_info.PATH.append(bin_path)
diff --git a/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch b/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch
deleted file mode 100644
index 09eccdb11c55c..0000000000000
--- a/recipes/fast-dds/all/patches/2.3.2-0001-add-conan.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 8a9cb0209..7a970b481 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -88,6 +88,8 @@ else()
-     else()
-         cmake_policy(SET CMP0048 NEW)
-         project(fastrtps VERSION "${LIB_VERSION_STR}" LANGUAGES C CXX)
-+        include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
-+        conan_basic_setup()
-     endif()
- endif()
- 
diff --git a/recipes/fast-dds/all/test_package/CMakeLists.txt b/recipes/fast-dds/all/test_package/CMakeLists.txt
new file mode 100644
index 0000000000000..27d0159d8d5c4
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.1)
+project(PackageTest CXX)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup()
+
+add_subdirectory(HelloWorldExample)
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
new file mode 100644
index 0000000000000..2c97cfe1344ea
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
@@ -0,0 +1,23 @@
+# Copyright 2016 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.
+
+find_package(fastcdr REQUIRED)
+find_package(foonathan_memory REQUIRED)
+find_package(fastdds REQUIRED)
+
+file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CXX "*.cxx")
+file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CPP "*.cpp")
+
+add_executable(test_package ${HELLOWORLD_EXAMPLE_SOURCES_CXX} ${HELLOWORLD_EXAMPLE_SOURCES_CPP})
+target_link_libraries(test_package fastdds::fastrtps)
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx
new file mode 100644
index 0000000000000..b850b450127bf
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx
@@ -0,0 +1,207 @@
+// Copyright 2016 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.
+
+/*!
+ * @file HelloWorld.cpp
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifdef _WIN32
+// Remove linker warning LNK4221 on Visual Studio
+namespace { char dummy; }
+#endif
+
+#include "HelloWorld.h"
+#include <fastcdr/Cdr.h>
+
+#include <fastcdr/exceptions/BadParamException.h>
+using namespace eprosima::fastcdr::exception;
+
+#include <utility>
+
+HelloWorld::HelloWorld()
+{
+    // m_index com.eprosima.idl.parser.typecode.PrimitiveTypeCode@1622f1b
+    m_index = 0;
+    // m_message com.eprosima.idl.parser.typecode.StringTypeCode@70e8f8e
+    m_message ="";
+
+}
+
+HelloWorld::~HelloWorld()
+{
+
+
+}
+
+HelloWorld::HelloWorld(const HelloWorld &x)
+{
+    m_index = x.m_index;
+    m_message = x.m_message;
+}
+
+HelloWorld::HelloWorld(HelloWorld &&x)
+{
+    m_index = x.m_index;
+    m_message = std::move(x.m_message);
+}
+
+HelloWorld& HelloWorld::operator=(const HelloWorld &x)
+{
+
+    m_index = x.m_index;
+    m_message = x.m_message;
+
+    return *this;
+}
+
+HelloWorld& HelloWorld::operator=(HelloWorld &&x)
+{
+
+    m_index = x.m_index;
+    m_message = std::move(x.m_message);
+
+    return *this;
+}
+
+size_t HelloWorld::getMaxCdrSerializedSize(size_t current_alignment)
+{
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + 255 + 1;
+
+
+    return current_alignment - initial_alignment;
+}
+
+size_t HelloWorld::getCdrSerializedSize(const HelloWorld& data, size_t current_alignment)
+{
+    (void)data;
+    size_t initial_alignment = current_alignment;
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4);
+
+
+    current_alignment += 4 + eprosima::fastcdr::Cdr::alignment(current_alignment, 4) + data.message().size() + 1;
+
+
+    return current_alignment - initial_alignment;
+}
+
+void HelloWorld::serialize(eprosima::fastcdr::Cdr &scdr) const
+{
+
+    scdr << m_index;
+    scdr << m_message;
+}
+
+void HelloWorld::deserialize(eprosima::fastcdr::Cdr &dcdr)
+{
+
+    dcdr >> m_index;
+    dcdr >> m_message;
+}
+
+/*!
+ * @brief This function sets a value in member index
+ * @param _index New value for member index
+ */
+void HelloWorld::index(uint32_t _index)
+{
+m_index = _index;
+}
+
+/*!
+ * @brief This function returns the value of member index
+ * @return Value of member index
+ */
+uint32_t HelloWorld::index() const
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function returns a reference to member index
+ * @return Reference to member index
+ */
+uint32_t& HelloWorld::index()
+{
+    return m_index;
+}
+
+/*!
+ * @brief This function copies the value in member message
+ * @param _message New value to be copied in member message
+ */
+void HelloWorld::message(const std::string &_message)
+{
+m_message = _message;
+}
+
+/*!
+ * @brief This function moves the value in member message
+ * @param _message New value to be moved in member message
+ */
+void HelloWorld::message(std::string &&_message)
+{
+m_message = std::move(_message);
+}
+
+/*!
+ * @brief This function returns a constant reference to member message
+ * @return Constant reference to member message
+ */
+const std::string& HelloWorld::message() const
+{
+    return m_message;
+}
+
+/*!
+ * @brief This function returns a reference to member message
+ * @return Reference to member message
+ */
+std::string& HelloWorld::message()
+{
+    return m_message;
+}
+
+size_t HelloWorld::getKeyMaxCdrSerializedSize(size_t current_alignment)
+{
+    size_t current_align = current_alignment;
+
+
+
+
+
+    return current_align;
+}
+
+bool HelloWorld::isKeyDefined()
+{
+   return false;
+}
+
+void HelloWorld::serializeKey(eprosima::fastcdr::Cdr &scdr) const
+{
+    (void) scdr;
+     
+     
+}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
new file mode 100644
index 0000000000000..5b94c7c9dc81b
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
@@ -0,0 +1,206 @@
+// Copyright 2016 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.
+
+/*!
+ * @file HelloWorld.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _HELLOWORLD_H_
+#define _HELLOWORLD_H_
+
+// TODO Poner en el contexto.
+
+#include <stdint.h>
+#include <array>
+#include <string>
+#include <vector>
+#include <map>
+#include <bitset>
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif
+#else
+#define eProsima_user_DllExport
+#endif
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#if defined(HelloWorld_SOURCE)
+#define HelloWorld_DllAPI __declspec( dllexport )
+#else
+#define HelloWorld_DllAPI __declspec( dllimport )
+#endif // HelloWorld_SOURCE
+#else
+#define HelloWorld_DllAPI
+#endif
+#else
+#define HelloWorld_DllAPI
+#endif // _WIN32
+
+namespace eprosima
+{
+    namespace fastcdr
+    {
+        class Cdr;
+    }
+}
+
+
+/*!
+ * @brief This class represents the structure HelloWorld defined by the user in the IDL file.
+ * @ingroup HELLOWORLD
+ */
+class HelloWorld
+{
+public:
+
+    /*!
+     * @brief Default constructor.
+     */
+    eProsima_user_DllExport HelloWorld();
+
+    /*!
+     * @brief Default destructor.
+     */
+    eProsima_user_DllExport ~HelloWorld();
+
+    /*!
+     * @brief Copy constructor.
+     * @param x Reference to the object HelloWorld that will be copied.
+     */
+    eProsima_user_DllExport HelloWorld(const HelloWorld &x);
+
+    /*!
+     * @brief Move constructor.
+     * @param x Reference to the object HelloWorld that will be copied.
+     */
+    eProsima_user_DllExport HelloWorld(HelloWorld &&x);
+
+    /*!
+     * @brief Copy assignment.
+     * @param x Reference to the object HelloWorld that will be copied.
+     */
+    eProsima_user_DllExport HelloWorld& operator=(const HelloWorld &x);
+
+    /*!
+     * @brief Move assignment.
+     * @param x Reference to the object HelloWorld that will be copied.
+     */
+    eProsima_user_DllExport HelloWorld& operator=(HelloWorld &&x);
+
+    /*!
+     * @brief This function sets a value in member index
+     * @param _index New value for member index
+     */
+    eProsima_user_DllExport void index(uint32_t _index);
+
+    /*!
+     * @brief This function returns the value of member index
+     * @return Value of member index
+     */
+    eProsima_user_DllExport uint32_t index() const;
+
+    /*!
+     * @brief This function returns a reference to member index
+     * @return Reference to member index
+     */
+    eProsima_user_DllExport uint32_t& index();
+
+    /*!
+     * @brief This function copies the value in member message
+     * @param _message New value to be copied in member message
+     */
+    eProsima_user_DllExport void message(const std::string &_message);
+
+    /*!
+     * @brief This function moves the value in member message
+     * @param _message New value to be moved in member message
+     */
+    eProsima_user_DllExport void message(std::string &&_message);
+
+    /*!
+     * @brief This function returns a constant reference to member message
+     * @return Constant reference to member message
+     */
+    eProsima_user_DllExport const std::string& message() const;
+
+    /*!
+     * @brief This function returns a reference to member message
+     * @return Reference to member message
+     */
+    eProsima_user_DllExport std::string& message();
+
+    /*!
+     * @brief This function returns the maximum serialized size of an object
+     * depending on the buffer alignment.
+     * @param current_alignment Buffer alignment.
+     * @return Maximum serialized size.
+     */
+    eProsima_user_DllExport static size_t getMaxCdrSerializedSize(size_t current_alignment = 0);
+
+    /*!
+     * @brief This function returns the serialized size of a data depending on the buffer alignment.
+     * @param data Data which is calculated its serialized size.
+     * @param current_alignment Buffer alignment.
+     * @return Serialized size.
+     */
+    eProsima_user_DllExport static size_t getCdrSerializedSize(const HelloWorld& data, size_t current_alignment = 0);
+
+
+    /*!
+     * @brief This function serializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serialize(eprosima::fastcdr::Cdr &cdr) const;
+
+    /*!
+     * @brief This function deserializes an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void deserialize(eprosima::fastcdr::Cdr &cdr);
+
+
+
+    /*!
+     * @brief This function returns the maximum serialized size of the Key of an object
+     * depending on the buffer alignment.
+     * @param current_alignment Buffer alignment.
+     * @return Maximum serialized size.
+     */
+    eProsima_user_DllExport static size_t getKeyMaxCdrSerializedSize(size_t current_alignment = 0);
+
+    /*!
+     * @brief This function tells you if the Key has been defined for this type
+     */
+    eProsima_user_DllExport static bool isKeyDefined();
+
+    /*!
+     * @brief This function serializes the key members of an object using CDR serialization.
+     * @param cdr CDR serialization object.
+     */
+    eProsima_user_DllExport void serializeKey(eprosima::fastcdr::Cdr &cdr) const;
+
+private:
+    uint32_t m_index;
+    std::string m_message;
+};
+
+#endif // _HELLOWORLD_H_
\ No newline at end of file
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl
new file mode 100644
index 0000000000000..0fd2c355aeefa
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl
@@ -0,0 +1,5 @@
+struct HelloWorld
+{
+	unsigned long index;
+	string message;
+};
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx
new file mode 100644
index 0000000000000..89e89cc8581e8
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx
@@ -0,0 +1,133 @@
+// Copyright 2016 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.
+
+/*!
+ * @file HelloWorldPubSubTypes.cpp
+ * This header file contains the implementation of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#include <fastcdr/FastBuffer.h>
+#include <fastcdr/Cdr.h>
+
+#include "HelloWorldPubSubTypes.h"
+
+using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
+
+HelloWorldPubSubType::HelloWorldPubSubType()
+{
+    setName("HelloWorld");
+    m_typeSize = static_cast<uint32_t>(HelloWorld::getMaxCdrSerializedSize()) + 4 /*encapsulation*/;
+    m_isGetKeyDefined = HelloWorld::isKeyDefined();
+    size_t keyLength = HelloWorld::getKeyMaxCdrSerializedSize()>16 ? HelloWorld::getKeyMaxCdrSerializedSize() : 16;
+    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
+    memset(m_keyBuffer, 0, keyLength);
+}
+
+HelloWorldPubSubType::~HelloWorldPubSubType()
+{
+    if(m_keyBuffer!=nullptr)
+        free(m_keyBuffer);
+}
+
+bool HelloWorldPubSubType::serialize(void *data, SerializedPayload_t *payload)
+{
+    HelloWorld *p_type = static_cast<HelloWorld*>(data);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size); // Object that manages the raw buffer.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+            eprosima::fastcdr::Cdr::DDS_CDR); // Object that serializes the data.
+    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+    // Serialize encapsulation
+    ser.serialize_encapsulation();
+
+    try
+    {
+        p_type->serialize(ser); // Serialize the object:
+    }
+    catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
+    {
+        return false;
+    }
+
+    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength()); //Get the serialized length
+    return true;
+}
+
+bool HelloWorldPubSubType::deserialize(SerializedPayload_t* payload, void* data)
+{
+    HelloWorld* p_type = static_cast<HelloWorld*>(data); //Convert DATA to pointer of your type
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length); // Object that manages the raw buffer.
+    eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+            eprosima::fastcdr::Cdr::DDS_CDR); // Object that deserializes the data.
+    // Deserialize encapsulation.
+    deser.read_encapsulation();
+    payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+
+    try
+    {
+        p_type->deserialize(deser); //Deserialize the object:
+    }
+    catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
+    {
+        return false;
+    }
+
+    return true;
+}
+
+std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(void* data)
+{
+    return [data]() -> uint32_t
+    {
+        return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<HelloWorld*>(data))) + 4 /*encapsulation*/;
+    };
+}
+
+void* HelloWorldPubSubType::createData()
+{
+    return reinterpret_cast<void*>(new HelloWorld());
+}
+
+void HelloWorldPubSubType::deleteData(void* data)
+{
+    delete(reinterpret_cast<HelloWorld*>(data));
+}
+
+bool HelloWorldPubSubType::getKey(void *data, InstanceHandle_t* handle, bool force_md5)
+{
+    if(!m_isGetKeyDefined)
+        return false;
+    HelloWorld* p_type = static_cast<HelloWorld*>(data);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),HelloWorld::getKeyMaxCdrSerializedSize());     // Object that manages the raw buffer.
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);     // Object that serializes the data.
+    p_type->serializeKey(ser);
+    if(force_md5 || HelloWorld::getKeyMaxCdrSerializedSize()>16)    {
+        m_md5.init();
+        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
+        m_md5.finalize();
+        for(uint8_t i = 0;i<16;++i)        {
+            handle->value[i] = m_md5.digest[i];
+        }
+    }
+    else    {
+        for(uint8_t i = 0;i<16;++i)        {
+            handle->value[i] = m_keyBuffer[i];
+        }
+    }
+    return true;
+}
+
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
new file mode 100644
index 0000000000000..c5576f0437c1a
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
@@ -0,0 +1,57 @@
+// Copyright 2016 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.
+
+/*!
+ * @file HelloWorldPubSubTypes.h
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastcdrgen.
+ */
+
+
+#ifndef _HELLOWORLD_PUBSUBTYPES_H_
+#define _HELLOWORLD_PUBSUBTYPES_H_
+
+#include <fastrtps/config.h>
+#include <fastrtps/TopicDataType.h>
+
+#include "HelloWorld.h"
+
+#if !defined(GEN_API_VER) || (GEN_API_VER != 1)
+#error Generated HelloWorld is not compatible with current installed Fast-RTPS. Please, regenerate it with fastrtpsgen.
+#endif
+
+/*!
+ * @brief This class represents the TopicDataType of the type HelloWorld defined by the user in the IDL file.
+ * @ingroup HELLOWORLD
+ */
+class HelloWorldPubSubType : public eprosima::fastrtps::TopicDataType {
+public:
+    typedef HelloWorld type;
+
+    eProsima_user_DllExport HelloWorldPubSubType();
+
+    eProsima_user_DllExport virtual ~HelloWorldPubSubType();
+    eProsima_user_DllExport virtual bool serialize(void *data, eprosima::fastrtps::rtps::SerializedPayload_t *payload) override;
+    eProsima_user_DllExport virtual bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t *payload, void *data) override;
+    eProsima_user_DllExport virtual std::function<uint32_t()> getSerializedSizeProvider(void* data) override;
+    eProsima_user_DllExport virtual bool getKey(void *data, eprosima::fastrtps::rtps::InstanceHandle_t *ihandle,
+        bool force_md5 = false) override;
+    eProsima_user_DllExport virtual void* createData() override;
+    eProsima_user_DllExport virtual void deleteData(void * data) override;
+    MD5 m_md5;
+    unsigned char* m_keyBuffer;
+};
+
+#endif // _HELLOWORLD_PUBSUBTYPES_H_
\ No newline at end of file
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
new file mode 100644
index 0000000000000..19117e460a63f
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
@@ -0,0 +1,167 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorldPublisher.cpp
+ *
+ */
+
+#include "HelloWorldPublisher.h"
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+#include <fastrtps/publisher/Publisher.h>
+#include <fastrtps/Domain.h>
+
+#include <thread>
+
+using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
+
+HelloWorldPublisher::HelloWorldPublisher()
+    : mp_participant(nullptr)
+    , mp_publisher(nullptr)
+{
+}
+
+bool HelloWorldPublisher::init()
+{
+    m_Hello.index(0);
+    m_Hello.message("HelloWorld");
+    ParticipantAttributes PParam;
+    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
+    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
+    PParam.rtps.setName("Participant_pub");
+    mp_participant = Domain::createParticipant(PParam);
+
+    if (mp_participant == nullptr)
+    {
+        return false;
+    }
+    //REGISTER THE TYPE
+
+    Domain::registerType(mp_participant, &m_type);
+
+    //CREATE THE PUBLISHER
+    PublisherAttributes Wparam;
+    Wparam.topic.topicKind = NO_KEY;
+    Wparam.topic.topicDataType = "HelloWorld";
+    Wparam.topic.topicName = "HelloWorldTopic";
+    Wparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
+    Wparam.topic.historyQos.depth = 30;
+    Wparam.topic.resourceLimitsQos.max_samples = 50;
+    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
+    Wparam.times.heartbeatPeriod.seconds = 2;
+    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    Wparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*)&m_listener);
+    if (mp_publisher == nullptr)
+    {
+        return false;
+    }
+
+    return true;
+
+}
+
+HelloWorldPublisher::~HelloWorldPublisher()
+{
+    // TODO Auto-generated destructor stub
+    Domain::removeParticipant(mp_participant);
+}
+
+void HelloWorldPublisher::PubListener::onPublicationMatched(
+        Publisher* /*pub*/,
+        MatchingInfo& info)
+{
+    if (info.status == MATCHED_MATCHING)
+    {
+        n_matched++;
+        firstConnected = true;
+        std::cout << "Publisher matched" << std::endl;
+    }
+    else
+    {
+        n_matched--;
+        std::cout << "Publisher unmatched" << std::endl;
+    }
+}
+
+void HelloWorldPublisher::runThread(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    if (samples == 0)
+    {
+        while (!stop)
+        {
+            if (publish(false))
+            {
+                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
+                        std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+    else
+    {
+        for (uint32_t i = 0; i < samples; ++i)
+        {
+            if (!publish())
+            {
+                --i;
+            }
+            else
+            {
+                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
+                        std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+}
+
+void HelloWorldPublisher::run(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    stop = false;
+    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
+    if (samples == 0)
+    {
+        std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
+        std::cin.ignore();
+        stop = true;
+    }
+    else
+    {
+        std::cout << "Publisher running " << samples << " samples." << std::endl;
+    }
+    thread.join();
+}
+
+bool HelloWorldPublisher::publish(
+        bool waitForListener)
+{
+    if (m_listener.firstConnected || !waitForListener || m_listener.n_matched > 0)
+    {
+        m_Hello.index(m_Hello.index() + 1);
+        mp_publisher->write((void*)&m_Hello);
+        return true;
+    }
+    return false;
+}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
new file mode 100644
index 0000000000000..a863ae25a0d3b
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
@@ -0,0 +1,62 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorldPublisher.h
+ *
+ */
+
+#ifndef HELLOWORLDPUBLISHER_H_
+#define HELLOWORLDPUBLISHER_H_
+
+#include "HelloWorldPubSubTypes.h"
+
+#include <fastrtps/fastrtps_fwd.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+#include <fastrtps/publisher/PublisherListener.h>
+
+
+#include "HelloWorld.h"
+
+class HelloWorldPublisher {
+public:
+	HelloWorldPublisher();
+	virtual ~HelloWorldPublisher();
+	//!Initialize
+	bool init();
+	//!Publish a sample
+	bool publish(bool waitForListener = true);
+	//!Run for number samples
+	void run(uint32_t number, uint32_t sleep);
+private:
+	HelloWorld m_Hello;
+	eprosima::fastrtps::Participant* mp_participant;
+	eprosima::fastrtps::Publisher* mp_publisher;
+	bool stop;
+	class PubListener:public eprosima::fastrtps::PublisherListener
+	{
+	public:
+		PubListener():n_matched(0),firstConnected(false){};
+		~PubListener(){};
+		void onPublicationMatched(eprosima::fastrtps::Publisher* pub, eprosima::fastrtps::rtps::MatchingInfo& info);
+		int n_matched;
+        bool firstConnected;
+	}m_listener;
+	void runThread(uint32_t number, uint32_t sleep);
+	HelloWorldPubSubType m_type;
+};
+
+
+
+#endif /* HELLOWORLDPUBLISHER_H_ */
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
new file mode 100644
index 0000000000000..80bf66f05b9b5
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
@@ -0,0 +1,127 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorldSubscriber.cpp
+ *
+ */
+
+#include "HelloWorldSubscriber.h"
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/SubscriberAttributes.h>
+#include <fastrtps/subscriber/Subscriber.h>
+#include <fastrtps/Domain.h>
+
+using namespace eprosima::fastrtps;
+using namespace eprosima::fastrtps::rtps;
+
+HelloWorldSubscriber::HelloWorldSubscriber()
+    : mp_participant(nullptr)
+    , mp_subscriber(nullptr)
+{
+}
+
+bool HelloWorldSubscriber::init()
+{
+    ParticipantAttributes PParam;
+    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
+    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
+    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
+    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
+    PParam.rtps.setName("Participant_sub");
+    mp_participant = Domain::createParticipant(PParam);
+    if (mp_participant == nullptr)
+    {
+        return false;
+    }
+
+    //REGISTER THE TYPE
+
+    Domain::registerType(mp_participant, &m_type);
+    //CREATE THE SUBSCRIBER
+    SubscriberAttributes Rparam;
+    Rparam.topic.topicKind = NO_KEY;
+    Rparam.topic.topicDataType = "HelloWorld";
+    Rparam.topic.topicName = "HelloWorldTopic";
+    Rparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
+    Rparam.topic.historyQos.depth = 30;
+    Rparam.topic.resourceLimitsQos.max_samples = 50;
+    Rparam.topic.resourceLimitsQos.allocated_samples = 20;
+    Rparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
+    Rparam.qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+    mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*)&m_listener);
+
+    if (mp_subscriber == nullptr)
+    {
+        return false;
+    }
+
+
+    return true;
+}
+
+HelloWorldSubscriber::~HelloWorldSubscriber()
+{
+    // TODO Auto-generated destructor stub
+    Domain::removeParticipant(mp_participant);
+}
+
+void HelloWorldSubscriber::SubListener::onSubscriptionMatched(
+        Subscriber* /*sub*/,
+        MatchingInfo& info)
+{
+    if (info.status == MATCHED_MATCHING)
+    {
+        n_matched++;
+        std::cout << "Subscriber matched" << std::endl;
+    }
+    else
+    {
+        n_matched--;
+        std::cout << "Subscriber unmatched" << std::endl;
+    }
+}
+
+void HelloWorldSubscriber::SubListener::onNewDataMessage(
+        Subscriber* sub)
+{
+    if (sub->takeNextData((void*)&m_Hello, &m_info))
+    {
+        if (m_info.sampleKind == ALIVE)
+        {
+            this->n_samples++;
+            // Print your structure data here.
+            std::cout << "Message " << m_Hello.message() << " " << m_Hello.index() << " RECEIVED" << std::endl;
+        }
+    }
+
+}
+
+void HelloWorldSubscriber::run()
+{
+    std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
+    std::cin.ignore();
+}
+
+void HelloWorldSubscriber::run(
+        uint32_t number)
+{
+    std::cout << "Subscriber running until " << number << "samples have been received" << std::endl;
+    while (number > this->m_listener.n_samples)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }
+}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
new file mode 100644
index 0000000000000..2d0f4b09e1dc3
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
@@ -0,0 +1,87 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorldSubscriber.h
+ *
+ */
+
+#ifndef HELLOWORLDSUBSCRIBER_H_
+#define HELLOWORLDSUBSCRIBER_H_
+
+#include "HelloWorldPubSubTypes.h"
+
+#include <fastrtps/fastrtps_fwd.h>
+#include <fastrtps/attributes/SubscriberAttributes.h>
+#include <fastrtps/subscriber/SubscriberListener.h>
+#include <fastrtps/subscriber/SampleInfo.h>
+
+
+
+
+#include "HelloWorld.h"
+
+class HelloWorldSubscriber
+{
+public:
+
+    HelloWorldSubscriber();
+    virtual ~HelloWorldSubscriber();
+    //!Initialize the subscriber
+    bool init();
+    //!RUN the subscriber
+    void run();
+    //!Run the subscriber until number samples have been received.
+    void run(
+            uint32_t number);
+
+private:
+
+    eprosima::fastrtps::Participant* mp_participant;
+    eprosima::fastrtps::Subscriber* mp_subscriber;
+
+public:
+
+    class SubListener : public eprosima::fastrtps::SubscriberListener
+    {
+    public:
+
+        SubListener()
+            : n_matched(0)
+            , n_samples(0)
+        {
+        }
+
+        ~SubListener()
+        {
+        }
+
+        void onSubscriptionMatched(
+                eprosima::fastrtps::Subscriber* sub,
+                eprosima::fastrtps::rtps::MatchingInfo& info);
+        void onNewDataMessage(
+                eprosima::fastrtps::Subscriber* sub);
+        HelloWorld m_Hello;
+        eprosima::fastrtps::SampleInfo_t m_info;
+        int n_matched;
+        uint32_t n_samples;
+    }
+    m_listener;
+
+private:
+
+    HelloWorldPubSubType m_type;
+};
+
+#endif /* HELLOWORLDSUBSCRIBER_H_ */
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
new file mode 100644
index 0000000000000..69ded07de7dfb
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
@@ -0,0 +1,60 @@
+// Copyright 2016 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.
+
+/**
+ * @file HelloWorld_main.cpp
+ *
+ */
+
+#include "HelloWorldPublisher.h"
+#include "HelloWorldSubscriber.h"
+
+#include <fastrtps/Domain.h>
+#include <fastrtps/log/Log.h>
+
+using namespace eprosima;
+using namespace fastrtps;
+using namespace rtps;
+int main(int argc, char **argv)
+{
+    std::cout << "Starting " << std::endl;
+    int type = 1;
+    int count = 1;
+    long sleep = 1;
+
+    switch (type)
+    {
+    case 1:
+    {
+        HelloWorldPublisher mypub;
+        if (mypub.init())
+        {
+            mypub.run(count, sleep);
+        }
+        break;
+    }
+    case 2:
+    {
+        HelloWorldSubscriber mysub;
+        if (mysub.init())
+        {
+            mysub.run();
+        }
+        break;
+    }
+    }
+    Domain::stopAll();
+    Log::Reset();
+    return 0;
+}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile b/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
new file mode 100644
index 0000000000000..615002f781d84
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
@@ -0,0 +1,102 @@
+# Copyright 2016 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.
+
+CPP=g++
+LN=g++
+AR=ar
+CP=cp
+SYSLIBS= -ldl -lnsl -lm -lpthread -lrt
+DEFINES= 
+COMMON_CFLAGS= -c -Wall -D__LITTLE_ENDIAN__ -std=c++11
+
+## CHOOSE HERE BETWEEN 32 and 64 bit architecture
+
+##32 BIT ARCH:
+#COMMON_CFLAGS+= -m32 -fpic
+#LDFLAGS=-m32
+
+#64BIT ARCH:
+COMMON_CFLAGS+= -m64 -fpic
+LDFLAGS=-m64
+
+CFLAGS = $(COMMON_CFLAGS) -O2
+
+INCLUDES= -I.
+
+LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
+
+DIRECTORIES= output.dir bin.dir
+
+all: $(DIRECTORIES) HelloWorldExample
+
+HELLOWORLDEXAMPLE_TARGET= bin/HelloWorldExample
+
+HELLOWORLDEXAMPLE_SRC_CXXFILES=
+
+HELLOWORLDEXAMPLE_SRC_CPPFILES= HelloWorldExample/HelloWorld.cxx \
+								HelloWorldExample/HelloWorldPubSubTypes.cxx \
+								HelloWorldExample/HelloWorldPublisher.cpp \
+								HelloWorldExample/HelloWorldSubscriber.cpp \
+								HelloWorldExample/HelloWorld_main.cpp 
+
+
+# Project sources are copied to the current directory
+HELLOWORLDEXAMPLE_SRCS= $(HELLOWORLDEXAMPLE_SRC_CXXFILES) $(HELLOWORLDEXAMPLE_SRC_CPPFILES)
+
+# Source directories
+HELLOWORLDEXAMPLE_SOURCES_DIRS_AUX= $(foreach srcdir, $(dir $(HELLOWORLDEXAMPLE_SRCS)), $(srcdir))
+HELLOWORLDEXAMPLE_SOURCES_DIRS= $(shell echo $(HELLOWORLDEXAMPLE_SOURCES_DIRS_AUX) | tr " " "\n" | sort | uniq | tr "\n" " ")
+
+HELLOWORLDEXAMPLE_OBJS = $(foreach obj,$(notdir $(addsuffix .o, $(HELLOWORLDEXAMPLE_SRCS))), output/$(obj))
+HELLOWORLDEXAMPLE_DEPS = $(foreach dep,$(notdir $(addsuffix .d, $(HELLOWORLDEXAMPLE_SRCS))), output/$(dep))
+
+OBJS+=  $(HELLOWORLDEXAMPLE_OBJS)
+DEPS+=  $(HELLOWORLDEXAMPLE_DEPS)
+
+HelloWorldExample: $(HELLOWORLDEXAMPLE_TARGET)
+
+$(HELLOWORLDEXAMPLE_TARGET): $(HELLOWORLDEXAMPLE_OBJS)
+	$(LN) $(LDFLAGS) -o $(HELLOWORLDEXAMPLE_TARGET) $(HELLOWORLDEXAMPLE_OBJS) $(LIBS)
+
+vpath %.cxx $(HELLOWORLDEXAMPLE_SOURCES_DIRS)
+vpath %.cpp $(HELLOWORLDEXAMPLE_SOURCES_DIRS)
+
+output/%.cxx.o:%.cxx
+	@echo Calculating dependencies $<
+	@$(CC) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cxx.o=%.cxx.d)
+	@echo Compiling $<
+	@$(CC) $(CFLAGS) $(INCLUDES) $< -o $@
+
+output/%.cpp.o:%.cpp
+	@echo Calculating dependencies $<
+	@$(CPP) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cpp.o=%.cpp.d)
+	@echo Compiling $<
+	@$(CPP) $(CFLAGS) $(INCLUDES) $< -o $@
+
+.PHONY: HelloWorldExample
+
+clean:
+	@rm -f $(OBJS)
+	@rm -f $(DEPS)
+
+ifneq ($(MAKECMDGOALS), clean)
+-include $(DEPS)
+endif
+
+%.dir : 
+	@echo "Checking directory $*"
+	@if [ ! -d $* ]; then \
+		echo "Making directory $*"; \
+		mkdir -p $* ; \
+	fi;
diff --git a/recipes/fast-dds/all/test_package/conanfile.py b/recipes/fast-dds/all/test_package/conanfile.py
new file mode 100644
index 0000000000000..1d0bdd3779793
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/conanfile.py
@@ -0,0 +1,17 @@
+from conans import ConanFile, CMake, tools
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "cmake", "cmake_find_package"
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if not tools.cross_building(self.settings):
+            bin_path = os.path.join("bin", "test_package")
+            self.run(bin_path, run_environment=True)

From aef792de74d0d521cda36a34e00231fa6a7a6e8a Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Wed, 16 Jun 2021 11:38:02 -0700
Subject: [PATCH 07/23] without args

---
 .../HelloWorldExample/HelloWorldPublisher.cpp |  2 +-
 .../HelloWorldExample/HelloWorld_main.cpp     | 65 +++++++++++++------
 2 files changed, 47 insertions(+), 20 deletions(-)

diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
index 19117e460a63f..00a0a5d087120 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
@@ -121,7 +121,7 @@ void HelloWorldPublisher::runThread(
     {
         for (uint32_t i = 0; i < samples; ++i)
         {
-            if (!publish())
+            if (!publish(false))
             {
                 --i;
             }
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
index 69ded07de7dfb..268360fc5f8d3 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
@@ -26,33 +26,60 @@
 using namespace eprosima;
 using namespace fastrtps;
 using namespace rtps;
-int main(int argc, char **argv)
+int main()
 {
-    std::cout << "Starting " << std::endl;
-    int type = 1;
-    int count = 1;
-    long sleep = 1;
+    std::cout << "Starting "<< std::endl;
+    
+    int argc = 2;
+    const char *argv[2] = {"", "subscribe"};
 
-    switch (type)
-    {
-    case 1:
+    int type = 1;
+    int count = 10;
+    long sleep = 100;
+    if(argc > 1)
     {
-        HelloWorldPublisher mypub;
-        if (mypub.init())
+        if(strcmp(argv[1],"publisher")==0)
         {
-            mypub.run(count, sleep);
+            type = 1;
+            if (argc >= 3)
+            {
+                count = atoi(argv[2]);
+                if (argc == 4)
+                {
+                    sleep = atoi(argv[3]);
+                }
+            }
         }
-        break;
+        else if(strcmp(argv[1],"subscriber")==0)
+            type = 2;
     }
-    case 2:
+    else
     {
-        HelloWorldSubscriber mysub;
-        if (mysub.init())
-        {
-            mysub.run();
-        }
-        break;
+        std::cout << "publisher OR subscriber argument needed" << std::endl;
+        Log::Reset();
+        return 0;
     }
+
+    switch(type)
+    {
+        case 1:
+            {
+                HelloWorldPublisher mypub;
+                if(mypub.init())
+                {
+                    mypub.run(count, sleep);
+                }
+                break;
+            }
+        case 2:
+            {
+                HelloWorldSubscriber mysub;
+                if(mysub.init())
+                {
+                    mysub.run();
+                }
+                break;
+            }
     }
     Domain::stopAll();
     Log::Reset();

From d7e70881ce3132783521cb7ac3807ce3892ff214 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Thu, 17 Jun 2021 12:11:33 -0700
Subject: [PATCH 08/23] add fix for find package in containers

---
 recipes/fast-dds/all/conandata.yml            |  4 +++
 recipes/fast-dds/all/conanfile.py             | 12 ++++++--
 ....3.2-0001-fix-find-asio-and-tinyxml2.patch | 28 +++++++++++++++++++
 3 files changed, 41 insertions(+), 3 deletions(-)
 create mode 100644 recipes/fast-dds/all/patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch

diff --git a/recipes/fast-dds/all/conandata.yml b/recipes/fast-dds/all/conandata.yml
index 1523e39f714d7..87b1380fe91ab 100644
--- a/recipes/fast-dds/all/conandata.yml
+++ b/recipes/fast-dds/all/conandata.yml
@@ -2,3 +2,7 @@ sources:
   "2.3.2":
     url: "https://github.com/eProsima/Fast-DDS/archive/refs/tags/v2.3.2.tar.gz"
     sha256: "4D8183CF4D37C3DE9E6FD28D2850DD08023A9079001C4880B23C95F0D8C0B5CE"
+patches:
+  "2.3.2":
+    - base_path: "source_subfolder"
+      patch_file: "patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch"
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index bab704982c935..d29289d5f13d8 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -27,7 +27,7 @@ class FastDDSConan(ConanFile):
     }
     generators = "cmake", "cmake_find_package"
     _cmake = None
-    exports_sources = ["CMakeLists.txt"]
+    exports_sources = ["patches/*","CMakeLists.txt"]
 
     @property
     def _pkg_share(self):
@@ -54,6 +54,10 @@ def _pkg_bin(self):
     def _source_subfolder(self):
         return "source_subfolder"
 
+    def _patch_sources(self):
+        for patch in self.conan_data["patches"][self.version]:
+            tools.patch(**patch)
+
     def configure(self):
         if self.options.shared:
             del self.options.fPIC
@@ -85,6 +89,7 @@ def source(self):
                   destination=self._source_subfolder)
 
     def build(self):
+        self._patch_sources()
         cmake = self._configure_cmake()
         cmake.build()
 
@@ -118,8 +123,8 @@ def package_info(self):
         self.cpp_info.components["fastrtps"].libs = ["fastrtps"]
         self.cpp_info.components["fastrtps"].requires = [
             "fast-cdr::fast-cdr",
-            "tinyxml2::tinyxml2",
             "asio::asio",
+            "tinyxml2::tinyxml2",
             "foonathan-memory::foonathan-memory"
         ]
         self.cpp_info.components["fastrtps"].system_libs = [
@@ -130,7 +135,8 @@ def package_info(self):
         # component fast-discovery
         self.cpp_info.components["fast-discovery"].name = "fast-discovery"
         self.cpp_info.components["fast-discovery"].requires = [
-            "fastrtps"
+            "fastrtps",
+            "tinyxml2::tinyxml2",
         ]
         if self.settings.os in ["Linux","Macos","Neutrino"]:        
             self.cpp_info.components["fast-discovery"].system_libs = [
diff --git a/recipes/fast-dds/all/patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch b/recipes/fast-dds/all/patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch
new file mode 100644
index 0000000000000..4530f0222378b
--- /dev/null
+++ b/recipes/fast-dds/all/patches/2.3.2-0001-fix-find-asio-and-tinyxml2.patch
@@ -0,0 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 8a9cb0209..400c681e7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -225,8 +225,8 @@ if(NOT BUILD_SHARED_LIBS)
+ endif()
+ 
+ eprosima_find_package(fastcdr REQUIRED)
+-eprosima_find_thirdparty(Asio asio VERSION 1.10.8)
+-eprosima_find_thirdparty(TinyXML2 tinyxml2)
++eprosima_find_thirdparty(asio REQUIRED)
++eprosima_find_thirdparty(tinyxml2 REQUIRED)
+ 
+ find_package(foonathan_memory REQUIRED)
+ message(STATUS "Found foonathan_memory: ${foonathan_memory_DIR}")
+diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
+index 04d313bf2..c7d64f04d 100644
+--- a/src/cpp/CMakeLists.txt
++++ b/src/cpp/CMakeLists.txt
+@@ -455,7 +455,7 @@ elseif(NOT EPROSIMA_INSTALLER)
+     # Link library to external libraries.
+     target_link_libraries(${PROJECT_NAME} ${PRIVACY} fastcdr foonathan_memory
+         ${CMAKE_THREAD_LIBS_INIT} ${CMAKE_DL_LIBS}
+-        ${TINYXML2_LIBRARY}
++        tinyxml2::tinyxml2
+         $<$<BOOL:${LINK_SSL}>:OpenSSL::SSL$<SEMICOLON>OpenSSL::Crypto>
+         $<$<BOOL:${WIN32}>:iphlpapi$<SEMICOLON>Shlwapi>
+         ${THIRDPARTY_BOOST_LINK_LIBS}

From 2e2faf4f72f6cb1d8902b752490d7519197796c1 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 01:31:39 -0700
Subject: [PATCH 09/23] added alias

---
 recipes/fast-dds/all/conanfile.py             | 46 ++++++++++++++++---
 .../HelloWorldExample/CMakeLists.txt          |  3 +-
 .../HelloWorldExample/HelloWorld_main.cpp     |  2 +-
 3 files changed, 43 insertions(+), 8 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index d29289d5f13d8..d823f6e473372 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -50,6 +50,32 @@ def _pkg_bin(self):
             "bin"
         )
 
+    @property
+    def _module_subfolder(self):
+        return os.path.join(
+            "lib",
+            "cmake"
+        )
+
+    @property
+    def _module_file_rel_path(self):
+        return os.path.join(
+            self._module_subfolder,
+            "conan-target-properties.cmake"
+        )
+
+    @staticmethod
+    def _create_cmake_module_alias_targets(module_file, targets):
+        content = ""
+        for alias, aliased in targets.items():
+            content += textwrap.dedent("""\
+                if(TARGET {aliased} AND NOT TARGET {alias})
+                    add_library({alias} INTERFACE IMPORTED)
+                    set_property(TARGET {alias} PROPERTY INTERFACE_LINK_LIBRARIES {aliased})
+                endif()
+            """.format(alias=alias, aliased=aliased))
+        tools.save(module_file, content)
+
     @property
     def _source_subfolder(self):
         return "source_subfolder"
@@ -114,24 +140,32 @@ def package(self):
             dst=os.path.join(self._pkg_bin,"tools")
         )
         self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
+        self._create_cmake_module_alias_targets(
+            os.path.join(self.package_folder, self._module_file_rel_path),
+            {"fastrtps": "fastdds::fastrtps"}
+        )
 
     def package_info(self):
         self.cpp_info.names["cmake_find_package"] = "fastdds"
         self.cpp_info.names["cmake_find_multi_package"] = "fastdds"
         # component fastrtps 
         self.cpp_info.components["fastrtps"].name = "fastrtps"
-        self.cpp_info.components["fastrtps"].libs = ["fastrtps"]
+        self.cpp_info.components["fastrtps"].libs = tools.collect_libs(self)
         self.cpp_info.components["fastrtps"].requires = [
             "fast-cdr::fast-cdr",
             "asio::asio",
             "tinyxml2::tinyxml2",
             "foonathan-memory::foonathan-memory"
         ]
-        self.cpp_info.components["fastrtps"].system_libs = [
-                "pthread",
-                "rt",
-                "dl"
-            ]
+        if self.settings.os in ["Linux","Macos","Neutrino"]:
+            self.cpp_info.components["fastrtps"].system_libs = [
+                    "pthread",
+                    "rt",
+                    "dl"
+                ]
+        self.cpp_info.components["fastrtps"].builddirs.append(self._module_subfolder)
+        self.cpp_info.components["fastrtps"].build_modules["cmake_find_package"] = [self._module_file_rel_path]
+        self.cpp_info.components["fastrtps"].build_modules["cmake_find_package_multi"] = [self._module_file_rel_path]
         # component fast-discovery
         self.cpp_info.components["fast-discovery"].name = "fast-discovery"
         self.cpp_info.components["fast-discovery"].requires = [
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
index 2c97cfe1344ea..50d99519836e5 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
@@ -20,4 +20,5 @@ file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CXX "*.cxx")
 file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CPP "*.cpp")
 
 add_executable(test_package ${HELLOWORLD_EXAMPLE_SOURCES_CXX} ${HELLOWORLD_EXAMPLE_SOURCES_CPP})
-target_link_libraries(test_package fastdds::fastrtps)
+# validate the alias
+target_link_libraries(test_package fastrtps)
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
index 268360fc5f8d3..108719be20ad2 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
@@ -34,7 +34,7 @@ int main()
     const char *argv[2] = {"", "subscribe"};
 
     int type = 1;
-    int count = 10;
+    int count = 9;
     long sleep = 100;
     if(argc > 1)
     {

From 75e8e402dda28ca72fcbc5f76c643ed4edc58ab0 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 01:37:41 -0700
Subject: [PATCH 10/23] link against windows system libs

---
 recipes/fast-dds/all/conanfile.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index d823f6e473372..947c2a3adca57 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -163,6 +163,11 @@ def package_info(self):
                     "rt",
                     "dl"
                 ]
+        elif self.settings.os == "Windows":
+            self.cpp_info.components["fastrtps"].system_libs = [
+                "iphlpapi",
+                "shlwapi"
+            ]
         self.cpp_info.components["fastrtps"].builddirs.append(self._module_subfolder)
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package"] = [self._module_file_rel_path]
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package_multi"] = [self._module_file_rel_path]

From 2857abd69557bd256fd6a6b02974a2cc41e896dd Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 05:39:51 -0700
Subject: [PATCH 11/23] changed for hooks

---
 .../all/test_package/HelloWorldExample/CMakeLists.txt         | 4 ++--
 .../fast-dds/all/test_package/HelloWorldExample/HelloWorld.h  | 2 +-
 .../test_package/HelloWorldExample/HelloWorldPubSubTypes.h    | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
index 50d99519836e5..477113c6f080a 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-find_package(fastcdr REQUIRED)
-find_package(foonathan_memory REQUIRED)
+cmake_minimum_required(VERSION 3.1)
+
 find_package(fastdds REQUIRED)
 
 file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CXX "*.cxx")
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
index 5b94c7c9dc81b..380f487456147 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
@@ -203,4 +203,4 @@ class HelloWorld
     std::string m_message;
 };
 
-#endif // _HELLOWORLD_H_
\ No newline at end of file
+#endif // _HELLOWORLD_H_
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
index c5576f0437c1a..7afa612cc5925 100644
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
+++ b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
@@ -54,4 +54,4 @@ class HelloWorldPubSubType : public eprosima::fastrtps::TopicDataType {
     unsigned char* m_keyBuffer;
 };
 
-#endif // _HELLOWORLD_PUBSUBTYPES_H_
\ No newline at end of file
+#endif // _HELLOWORLD_PUBSUBTYPES_H_

From 84a3525dca4174c83c02403d0f3963c96777f7cd Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 05:51:36 -0700
Subject: [PATCH 12/23] adapted for windows 100% run

---
 recipes/fast-dds/all/conanfile.py | 61 ++++++++++++++++++++++---------
 1 file changed, 44 insertions(+), 17 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 947c2a3adca57..4734b5ad75daf 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -5,7 +5,6 @@
 from pathlib import Path
 import textwrap
 
-
 class FastDDSConan(ConanFile):
 
     name = "fast-dds"
@@ -27,7 +26,7 @@ class FastDDSConan(ConanFile):
     }
     generators = "cmake", "cmake_find_package"
     _cmake = None
-    exports_sources = ["patches/*","CMakeLists.txt"]
+    exports_sources = ["patches/**", "CMakeLists.txt"]
 
     @property
     def _pkg_share(self):
@@ -91,10 +90,10 @@ def configure(self):
     def config_options(self):
         if self.settings.os == "Windows":
             del self.options.fPIC
-        
+
     def _configure_cmake(self):
         if not self._cmake:
-            self._cmake = CMake(self)           
+            self._cmake = CMake(self)         
             self._cmake.definitions["BUILD_MEMORY_TOOLS"] = False
             self._cmake.definitions["NO_TLS"] = not self.options.with_ssl
             self._cmake.definitions["SECURITY"] = self.options.with_ssl
@@ -114,6 +113,15 @@ def source(self):
         tools.get(**self.conan_data["sources"][self.version], strip_root=True,
                   destination=self._source_subfolder)
 
+    def validate(self):
+        if self.settings.compiler.get_safe("cppstd"):
+            tools.check_min_cppstd(self, 11)
+        if self.settings.os == "Windows":
+            if ("MT" in self.settings.compiler.runtime and self.options.shared):
+                # This combination leads to an fast-dds error when linking
+                # linking dynamic '*.dll' and static MT runtime
+                raise ConanInvalidConfiguration("Mixing a dll eprosima library with a static runtime is a bad idea")
+
     def build(self):
         self._patch_sources()
         cmake = self._configure_cmake()
@@ -124,22 +132,40 @@ def package(self):
         cmake.install()
         tools.rmdir(self._pkg_share)
         # tmp because you cannot move bin to bin/discovery directly
-        tools.mkdir(os.path.join(self.package_folder,"tmp"))
+        tools.mkdir(os.path.join(self.package_folder, "tmp"))
         tools.rename(
             src=self._pkg_bin,
-            dst=os.path.join(self.package_folder,"tmp","discovery")
+            dst=os.path.join(self.package_folder, "tmp", "discovery")
         )
         tools.mkdir(self._pkg_bin)
         tools.rename(
-            src=os.path.join(self.package_folder,"tmp","discovery"),
-            dst=os.path.join(self._pkg_bin,"discovery")
+            src=os.path.join(self.package_folder, "tmp", "discovery"),
+            dst=os.path.join(self._pkg_bin, "discovery")
         )
-        tools.rmdir(os.path.join(self.package_folder,"tmp"))
+        # DLL on windows on bin level
+        if self.settings.os == "Windows" and self.options.shared:
+            dll_name = "fastrtps-{major}.{minor}.dll".format(
+                major=self.version.split(".")[0],
+                minor=self.version.split(".")[1]
+            )
+            tools.rename(
+                src=os.path.join(self._pkg_bin, "discovery", dll_name),
+                dst=os.path.join(self._pkg_bin, dll_name)
+            )
+        tools.rmdir(os.path.join(self.package_folder, "tmp"))
         tools.rename(
             src=self._pkg_tools,
-            dst=os.path.join(self._pkg_bin,"tools")
+            dst=os.path.join(self._pkg_bin, "tools")
         )
         self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
+        tools.remove_files_by_mask(
+            directory=os.path.join(self.package_folder, "lib"),
+            pattern="*.pdb"
+        )
+        tools.remove_files_by_mask(
+            directory=os.path.join(self.package_folder, "bin"),
+            pattern="*.pdb"
+        )
         self._create_cmake_module_alias_targets(
             os.path.join(self.package_folder, self._module_file_rel_path),
             {"fastrtps": "fastdds::fastrtps"}
@@ -148,7 +174,7 @@ def package(self):
     def package_info(self):
         self.cpp_info.names["cmake_find_package"] = "fastdds"
         self.cpp_info.names["cmake_find_multi_package"] = "fastdds"
-        # component fastrtps 
+        # component fastrtps
         self.cpp_info.components["fastrtps"].name = "fastrtps"
         self.cpp_info.components["fastrtps"].libs = tools.collect_libs(self)
         self.cpp_info.components["fastrtps"].requires = [
@@ -157,7 +183,7 @@ def package_info(self):
             "tinyxml2::tinyxml2",
             "foonathan-memory::foonathan-memory"
         ]
-        if self.settings.os in ["Linux","Macos","Neutrino"]:
+        if self.settings.os in ["Linux", "Macos", "Neutrino"]:
             self.cpp_info.components["fastrtps"].system_libs = [
                     "pthread",
                     "rt",
@@ -168,6 +194,7 @@ def package_info(self):
                 "iphlpapi",
                 "shlwapi"
             ]
+            self.cpp_info.components["fastrtps"].defines.append("FASTRTPS_DYN_LINK")
         self.cpp_info.components["fastrtps"].builddirs.append(self._module_subfolder)
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package"] = [self._module_file_rel_path]
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package_multi"] = [self._module_file_rel_path]
@@ -177,18 +204,18 @@ def package_info(self):
             "fastrtps",
             "tinyxml2::tinyxml2",
         ]
-        if self.settings.os in ["Linux","Macos","Neutrino"]:        
+        if self.settings.os in ["Linux", "Macos", "Neutrino"]:     
             self.cpp_info.components["fast-discovery"].system_libs = [
                 "pthread",
                 "rt"
             ]
-        self.cpp_info.components["fast-discovery"].bindirs = [os.path.join("bin","discovery")]
-        bin_path = os.path.join(self.package_folder, "bin","discovery")
+        self.cpp_info.components["fast-discovery"].bindirs = [os.path.join("bin", "discovery")]
+        bin_path = os.path.join(self.package_folder, "bin", "discovery")
         self.output.info("Appending PATH env var for fast-dds::fast-discovery with : {}".format(bin_path)),
         self.env_info.PATH.append(bin_path)
         # component tools
         self.cpp_info.components["tools"].name = "tools"
-        self.cpp_info.components["tools"].bindirs = [os.path.join("bin","tools")]
-        bin_path = os.path.join(self.package_folder, "bin","tools")
+        self.cpp_info.components["tools"].bindirs = [os.path.join("bin", "tools")]
+        bin_path = os.path.join(self.package_folder, "bin", "tools")
         self.output.info("Appending PATH env var for fast-dds::tools with : {}".format(bin_path)),
         self.env_info.PATH.append(bin_path)

From cab9911a0e329164b408519acb5aa94554ad2b7d Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 06:15:55 -0700
Subject: [PATCH 13/23] Add atomic as dependency

---
 recipes/fast-dds/all/conanfile.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 4734b5ad75daf..f9adfcb920b0e 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -194,7 +194,10 @@ def package_info(self):
                 "iphlpapi",
                 "shlwapi"
             ]
-            self.cpp_info.components["fastrtps"].defines.append("FASTRTPS_DYN_LINK")
+            if self.options.shared:
+                self.cpp_info.components["fastrtps"].defines.append("FASTRTPS_DYN_LINK")
+        if self.settings.os == "Linux":
+            self.cpp_info.components["fastrtps"].system_libs.append("atomic")
         self.cpp_info.components["fastrtps"].builddirs.append(self._module_subfolder)
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package"] = [self._module_file_rel_path]
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package_multi"] = [self._module_file_rel_path]

From 8116fdf0b8cc25dcaf4e0df46670c799ed7bf487 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 08:28:21 -0700
Subject: [PATCH 14/23] force C++11 and check gcc version

---
 recipes/fast-dds/all/CMakeLists.txt              |  3 +++
 recipes/fast-dds/all/conanfile.py                | 11 ++++++++---
 recipes/fast-dds/all/test_package/CMakeLists.txt |  3 +++
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/recipes/fast-dds/all/CMakeLists.txt b/recipes/fast-dds/all/CMakeLists.txt
index d17aaff199b4a..1781a215e018d 100644
--- a/recipes/fast-dds/all/CMakeLists.txt
+++ b/recipes/fast-dds/all/CMakeLists.txt
@@ -4,4 +4,7 @@ project(cmake_wrapper)
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
 conan_basic_setup()
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 add_subdirectory("source_subfolder")
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index f9adfcb920b0e..1e2e3c389237c 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -1,8 +1,6 @@
 from conans import ConanFile, CMake, tools
 import os
-from conans.tools import load
 from conans.errors import ConanInvalidConfiguration
-from pathlib import Path
 import textwrap
 
 class FastDDSConan(ConanFile):
@@ -114,14 +112,21 @@ def source(self):
                   destination=self._source_subfolder)
 
     def validate(self):
-        if self.settings.compiler.get_safe("cppstd"):
+        os = self.settings.os
+        compiler = self.settings.compiler
+        version = tools.Version(self.settings.compiler.version)
+        if compiler.get_safe("cppstd"):
             tools.check_min_cppstd(self, 11)
+        if os == "Linux" and compiler == "gcc" and version < "5":
+            raise ConanInvalidConfiguration(
+                "Using Fast-DDS with gcc on Linux requires gcc 5 or higher.")
         if self.settings.os == "Windows":
             if ("MT" in self.settings.compiler.runtime and self.options.shared):
                 # This combination leads to an fast-dds error when linking
                 # linking dynamic '*.dll' and static MT runtime
                 raise ConanInvalidConfiguration("Mixing a dll eprosima library with a static runtime is a bad idea")
 
+
     def build(self):
         self._patch_sources()
         cmake = self._configure_cmake()
diff --git a/recipes/fast-dds/all/test_package/CMakeLists.txt b/recipes/fast-dds/all/test_package/CMakeLists.txt
index 27d0159d8d5c4..e4521014fa782 100644
--- a/recipes/fast-dds/all/test_package/CMakeLists.txt
+++ b/recipes/fast-dds/all/test_package/CMakeLists.txt
@@ -4,4 +4,7 @@ project(PackageTest CXX)
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
 conan_basic_setup()
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 add_subdirectory(HelloWorldExample)

From 7a01e15f6c6112c6e533bc6b7eb398f101ea8360 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 08:46:43 -0700
Subject: [PATCH 15/23] fix : c++11 require cmake 3.1

---
 recipes/fast-dds/all/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/recipes/fast-dds/all/CMakeLists.txt b/recipes/fast-dds/all/CMakeLists.txt
index 1781a215e018d..477562d4c9986 100644
--- a/recipes/fast-dds/all/CMakeLists.txt
+++ b/recipes/fast-dds/all/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.11)
+cmake_minimum_required(VERSION 3.1)
 project(cmake_wrapper)
 
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)

From 59ec565b9a484047d52680feb5c34fbacd7fff62 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 11:20:55 -0700
Subject: [PATCH 16/23] adapted ccompiler check

---
 recipes/fast-dds/all/conanfile.py | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 1e2e3c389237c..a104613fcbe20 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -120,6 +120,13 @@ def validate(self):
         if os == "Linux" and compiler == "gcc" and version < "5":
             raise ConanInvalidConfiguration(
                 "Using Fast-DDS with gcc on Linux requires gcc 5 or higher.")
+        if os == "Linux" and compiler == "clang" and version < "5.0":
+            raise ConanInvalidConfiguration(
+                "Using Fast-DDS with gcc on Linux requires clang 5 or higher.")
+        if os == "Windows" and compiler == "Visual Studio" and version < "16":
+            raise ConanInvalidConfiguration(
+                "Fast-DDS was tested on Windows with VS Compiler 16")
+        
         if self.settings.os == "Windows":
             if ("MT" in self.settings.compiler.runtime and self.options.shared):
                 # This combination leads to an fast-dds error when linking
@@ -190,7 +197,10 @@ def package_info(self):
         ]
         if self.settings.os in ["Linux", "Macos", "Neutrino"]:
             self.cpp_info.components["fastrtps"].system_libs = [
-                    "pthread",
+                    "pthread"
+                ]
+        if self.settings.os == "Linux":
+            self.cpp_info.components["fastrtps"].system_libs = [
                     "rt",
                     "dl"
                 ]
@@ -214,7 +224,10 @@ def package_info(self):
         ]
         if self.settings.os in ["Linux", "Macos", "Neutrino"]:     
             self.cpp_info.components["fast-discovery"].system_libs = [
-                "pthread",
+                "pthread"
+            ]
+        if self.settings.os in ["Linux"]:
+            self.cpp_info.components["fast-discovery"].system_libs = [
                 "rt"
             ]
         self.cpp_info.components["fast-discovery"].bindirs = [os.path.join("bin", "discovery")]

From ea11a7922e1e520ea9c67516d23f33c612f33f59 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 13:10:23 -0700
Subject: [PATCH 17/23] validate existence

---
 recipes/fast-dds/all/conanfile.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index a104613fcbe20..e4a8267e5e1bb 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -160,10 +160,11 @@ def package(self):
                 major=self.version.split(".")[0],
                 minor=self.version.split(".")[1]
             )
-            tools.rename(
-                src=os.path.join(self._pkg_bin, "discovery", dll_name),
-                dst=os.path.join(self._pkg_bin, dll_name)
-            )
+            if os.path.exists(os.path.join(self._pkg_bin, "discovery", dll_name)):
+                tools.rename(
+                    src=os.path.join(self._pkg_bin, "discovery", dll_name),
+                    dst=os.path.join(self._pkg_bin, dll_name)
+                )
         tools.rmdir(os.path.join(self.package_folder, "tmp"))
         tools.rename(
             src=self._pkg_tools,

From a161e6a854ca26652eee47a353c0813edc1ccd50 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Fri, 18 Jun 2021 23:21:29 -0700
Subject: [PATCH 18/23] reduce complexity + add openssl as requires

---
 recipes/fast-dds/all/conanfile.py | 54 ++++++-------------------------
 1 file changed, 10 insertions(+), 44 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index e4a8267e5e1bb..e5e639e408109 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -122,7 +122,7 @@ def validate(self):
                 "Using Fast-DDS with gcc on Linux requires gcc 5 or higher.")
         if os == "Linux" and compiler == "clang" and version < "5.0":
             raise ConanInvalidConfiguration(
-                "Using Fast-DDS with gcc on Linux requires clang 5 or higher.")
+                "Using Fast-DDS with clang on Linux requires clang 5 or higher.")
         if os == "Windows" and compiler == "Visual Studio" and version < "16":
             raise ConanInvalidConfiguration(
                 "Fast-DDS was tested on Windows with VS Compiler 16")
@@ -143,34 +143,11 @@ def package(self):
         cmake = self._configure_cmake()
         cmake.install()
         tools.rmdir(self._pkg_share)
-        # tmp because you cannot move bin to bin/discovery directly
-        tools.mkdir(os.path.join(self.package_folder, "tmp"))
-        tools.rename(
-            src=self._pkg_bin,
-            dst=os.path.join(self.package_folder, "tmp", "discovery")
-        )
-        tools.mkdir(self._pkg_bin)
-        tools.rename(
-            src=os.path.join(self.package_folder, "tmp", "discovery"),
-            dst=os.path.join(self._pkg_bin, "discovery")
-        )
-        # DLL on windows on bin level
-        if self.settings.os == "Windows" and self.options.shared:
-            dll_name = "fastrtps-{major}.{minor}.dll".format(
-                major=self.version.split(".")[0],
-                minor=self.version.split(".")[1]
-            )
-            if os.path.exists(os.path.join(self._pkg_bin, "discovery", dll_name)):
-                tools.rename(
-                    src=os.path.join(self._pkg_bin, "discovery", dll_name),
-                    dst=os.path.join(self._pkg_bin, dll_name)
-                )
-        tools.rmdir(os.path.join(self.package_folder, "tmp"))
+        self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
         tools.rename(
             src=self._pkg_tools,
             dst=os.path.join(self._pkg_bin, "tools")
         )
-        self.copy("LICENSE", src=self._source_subfolder, dst="licenses")
         tools.remove_files_by_mask(
             directory=os.path.join(self.package_folder, "lib"),
             pattern="*.pdb"
@@ -203,7 +180,8 @@ def package_info(self):
         if self.settings.os == "Linux":
             self.cpp_info.components["fastrtps"].system_libs = [
                     "rt",
-                    "dl"
+                    "dl",
+                    "atomic"
                 ]
         elif self.settings.os == "Windows":
             self.cpp_info.components["fastrtps"].system_libs = [
@@ -212,32 +190,20 @@ def package_info(self):
             ]
             if self.options.shared:
                 self.cpp_info.components["fastrtps"].defines.append("FASTRTPS_DYN_LINK")
-        if self.settings.os == "Linux":
-            self.cpp_info.components["fastrtps"].system_libs.append("atomic")
+        if self.options.with_ssl:
+            self.cpp_info.components["fastrtps"].requires.append("openssl::openssl")
         self.cpp_info.components["fastrtps"].builddirs.append(self._module_subfolder)
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package"] = [self._module_file_rel_path]
         self.cpp_info.components["fastrtps"].build_modules["cmake_find_package_multi"] = [self._module_file_rel_path]
         # component fast-discovery
         self.cpp_info.components["fast-discovery"].name = "fast-discovery"
-        self.cpp_info.components["fast-discovery"].requires = [
-            "fastrtps",
-            "tinyxml2::tinyxml2",
-        ]
-        if self.settings.os in ["Linux", "Macos", "Neutrino"]:     
-            self.cpp_info.components["fast-discovery"].system_libs = [
-                "pthread"
-            ]
-        if self.settings.os in ["Linux"]:
-            self.cpp_info.components["fast-discovery"].system_libs = [
-                "rt"
-            ]
-        self.cpp_info.components["fast-discovery"].bindirs = [os.path.join("bin", "discovery")]
-        bin_path = os.path.join(self.package_folder, "bin", "discovery")
+        self.cpp_info.components["fast-discovery"].bindirs = ["bin"]
+        bin_path = os.path.join(self.package_folder, "bin")
         self.output.info("Appending PATH env var for fast-dds::fast-discovery with : {}".format(bin_path)),
         self.env_info.PATH.append(bin_path)
         # component tools
         self.cpp_info.components["tools"].name = "tools"
-        self.cpp_info.components["tools"].bindirs = [os.path.join("bin", "tools")]
-        bin_path = os.path.join(self.package_folder, "bin", "tools")
+        self.cpp_info.components["tools"].bindirs = [os.path.join("bin","tools")]
+        bin_path = os.path.join(self._pkg_bin, "tools")
         self.output.info("Appending PATH env var for fast-dds::tools with : {}".format(bin_path)),
         self.env_info.PATH.append(bin_path)

From 1dfdaa66742996c5d4551d930781ce2a9280e182 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Mon, 28 Jun 2021 02:34:53 -0700
Subject: [PATCH 19/23] reduce compexity

---
 .../fast-dds/all/test_package/CMakeLists.txt  |  13 +-
 .../HelloWorldExample/CMakeLists.txt          |  24 ---
 .../HelloWorldExample/HelloWorldPublisher.cpp | 167 ------------------
 .../HelloWorldExample/HelloWorldPublisher.h   |  62 -------
 .../HelloWorldSubscriber.cpp                  | 127 -------------
 .../HelloWorldExample/HelloWorldSubscriber.h  |  87 ---------
 .../HelloWorldExample/HelloWorld_main.cpp     |  87 ---------
 .../test_package/HelloWorldExample/Makefile   | 102 -----------
 .../fast-dds/all/test_package/conanfile.py    |   1 -
 .../{HelloWorldExample => msg}/HelloWorld.cxx |   0
 .../{HelloWorldExample => msg}/HelloWorld.h   |   0
 .../{HelloWorldExample => msg}/HelloWorld.idl |   0
 .../HelloWorldPubSubTypes.cxx                 |   0
 .../HelloWorldPubSubTypes.h                   |   0
 .../all/test_package/test_package.cpp         |  57 ++++++
 15 files changed, 67 insertions(+), 660 deletions(-)
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
 delete mode 100644 recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
 rename recipes/fast-dds/all/test_package/{HelloWorldExample => msg}/HelloWorld.cxx (100%)
 rename recipes/fast-dds/all/test_package/{HelloWorldExample => msg}/HelloWorld.h (100%)
 rename recipes/fast-dds/all/test_package/{HelloWorldExample => msg}/HelloWorld.idl (100%)
 rename recipes/fast-dds/all/test_package/{HelloWorldExample => msg}/HelloWorldPubSubTypes.cxx (100%)
 rename recipes/fast-dds/all/test_package/{HelloWorldExample => msg}/HelloWorldPubSubTypes.h (100%)
 create mode 100644 recipes/fast-dds/all/test_package/test_package.cpp

diff --git a/recipes/fast-dds/all/test_package/CMakeLists.txt b/recipes/fast-dds/all/test_package/CMakeLists.txt
index e4521014fa782..c20ee536c524b 100644
--- a/recipes/fast-dds/all/test_package/CMakeLists.txt
+++ b/recipes/fast-dds/all/test_package/CMakeLists.txt
@@ -4,7 +4,14 @@ project(PackageTest CXX)
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
 conan_basic_setup()
 
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
+find_package(fastdds REQUIRED)
 
-add_subdirectory(HelloWorldExample)
+add_executable(test_package
+    test_package.cpp
+    msg/HelloWorld.cxx
+    msg/HelloWorldPubSubTypes.cxx
+)
+
+target_link_libraries(test_package
+    fastrtps
+)
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt b/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
deleted file mode 100644
index 477113c6f080a..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/CMakeLists.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 2016 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.
-
-cmake_minimum_required(VERSION 3.1)
-
-find_package(fastdds REQUIRED)
-
-file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CXX "*.cxx")
-file(GLOB HELLOWORLD_EXAMPLE_SOURCES_CPP "*.cpp")
-
-add_executable(test_package ${HELLOWORLD_EXAMPLE_SOURCES_CXX} ${HELLOWORLD_EXAMPLE_SOURCES_CPP})
-# validate the alias
-target_link_libraries(test_package fastrtps)
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
deleted file mode 100644
index 00a0a5d087120..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.cpp
+++ /dev/null
@@ -1,167 +0,0 @@
-// Copyright 2016 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.
-
-/**
- * @file HelloWorldPublisher.cpp
- *
- */
-
-#include "HelloWorldPublisher.h"
-#include <fastrtps/participant/Participant.h>
-#include <fastrtps/attributes/ParticipantAttributes.h>
-#include <fastrtps/attributes/PublisherAttributes.h>
-#include <fastrtps/publisher/Publisher.h>
-#include <fastrtps/Domain.h>
-
-#include <thread>
-
-using namespace eprosima::fastrtps;
-using namespace eprosima::fastrtps::rtps;
-
-HelloWorldPublisher::HelloWorldPublisher()
-    : mp_participant(nullptr)
-    , mp_publisher(nullptr)
-{
-}
-
-bool HelloWorldPublisher::init()
-{
-    m_Hello.index(0);
-    m_Hello.message("HelloWorld");
-    ParticipantAttributes PParam;
-    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
-    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
-    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
-    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
-    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
-    PParam.rtps.setName("Participant_pub");
-    mp_participant = Domain::createParticipant(PParam);
-
-    if (mp_participant == nullptr)
-    {
-        return false;
-    }
-    //REGISTER THE TYPE
-
-    Domain::registerType(mp_participant, &m_type);
-
-    //CREATE THE PUBLISHER
-    PublisherAttributes Wparam;
-    Wparam.topic.topicKind = NO_KEY;
-    Wparam.topic.topicDataType = "HelloWorld";
-    Wparam.topic.topicName = "HelloWorldTopic";
-    Wparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
-    Wparam.topic.historyQos.depth = 30;
-    Wparam.topic.resourceLimitsQos.max_samples = 50;
-    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
-    Wparam.times.heartbeatPeriod.seconds = 2;
-    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
-    Wparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
-    mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*)&m_listener);
-    if (mp_publisher == nullptr)
-    {
-        return false;
-    }
-
-    return true;
-
-}
-
-HelloWorldPublisher::~HelloWorldPublisher()
-{
-    // TODO Auto-generated destructor stub
-    Domain::removeParticipant(mp_participant);
-}
-
-void HelloWorldPublisher::PubListener::onPublicationMatched(
-        Publisher* /*pub*/,
-        MatchingInfo& info)
-{
-    if (info.status == MATCHED_MATCHING)
-    {
-        n_matched++;
-        firstConnected = true;
-        std::cout << "Publisher matched" << std::endl;
-    }
-    else
-    {
-        n_matched--;
-        std::cout << "Publisher unmatched" << std::endl;
-    }
-}
-
-void HelloWorldPublisher::runThread(
-        uint32_t samples,
-        uint32_t sleep)
-{
-    if (samples == 0)
-    {
-        while (!stop)
-        {
-            if (publish(false))
-            {
-                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
-                        std::endl;
-            }
-            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
-        }
-    }
-    else
-    {
-        for (uint32_t i = 0; i < samples; ++i)
-        {
-            if (!publish(false))
-            {
-                --i;
-            }
-            else
-            {
-                std::cout << "Message: " << m_Hello.message() << " with index: " << m_Hello.index() << " SENT" <<
-                        std::endl;
-            }
-            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
-        }
-    }
-}
-
-void HelloWorldPublisher::run(
-        uint32_t samples,
-        uint32_t sleep)
-{
-    stop = false;
-    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
-    if (samples == 0)
-    {
-        std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
-        std::cin.ignore();
-        stop = true;
-    }
-    else
-    {
-        std::cout << "Publisher running " << samples << " samples." << std::endl;
-    }
-    thread.join();
-}
-
-bool HelloWorldPublisher::publish(
-        bool waitForListener)
-{
-    if (m_listener.firstConnected || !waitForListener || m_listener.n_matched > 0)
-    {
-        m_Hello.index(m_Hello.index() + 1);
-        mp_publisher->write((void*)&m_Hello);
-        return true;
-    }
-    return false;
-}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
deleted file mode 100644
index a863ae25a0d3b..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPublisher.h
+++ /dev/null
@@ -1,62 +0,0 @@
-// Copyright 2016 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.
-
-/**
- * @file HelloWorldPublisher.h
- *
- */
-
-#ifndef HELLOWORLDPUBLISHER_H_
-#define HELLOWORLDPUBLISHER_H_
-
-#include "HelloWorldPubSubTypes.h"
-
-#include <fastrtps/fastrtps_fwd.h>
-#include <fastrtps/attributes/PublisherAttributes.h>
-#include <fastrtps/publisher/PublisherListener.h>
-
-
-#include "HelloWorld.h"
-
-class HelloWorldPublisher {
-public:
-	HelloWorldPublisher();
-	virtual ~HelloWorldPublisher();
-	//!Initialize
-	bool init();
-	//!Publish a sample
-	bool publish(bool waitForListener = true);
-	//!Run for number samples
-	void run(uint32_t number, uint32_t sleep);
-private:
-	HelloWorld m_Hello;
-	eprosima::fastrtps::Participant* mp_participant;
-	eprosima::fastrtps::Publisher* mp_publisher;
-	bool stop;
-	class PubListener:public eprosima::fastrtps::PublisherListener
-	{
-	public:
-		PubListener():n_matched(0),firstConnected(false){};
-		~PubListener(){};
-		void onPublicationMatched(eprosima::fastrtps::Publisher* pub, eprosima::fastrtps::rtps::MatchingInfo& info);
-		int n_matched;
-        bool firstConnected;
-	}m_listener;
-	void runThread(uint32_t number, uint32_t sleep);
-	HelloWorldPubSubType m_type;
-};
-
-
-
-#endif /* HELLOWORLDPUBLISHER_H_ */
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
deleted file mode 100644
index 80bf66f05b9b5..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.cpp
+++ /dev/null
@@ -1,127 +0,0 @@
-// Copyright 2016 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.
-
-/**
- * @file HelloWorldSubscriber.cpp
- *
- */
-
-#include "HelloWorldSubscriber.h"
-#include <fastrtps/participant/Participant.h>
-#include <fastrtps/attributes/ParticipantAttributes.h>
-#include <fastrtps/attributes/SubscriberAttributes.h>
-#include <fastrtps/subscriber/Subscriber.h>
-#include <fastrtps/Domain.h>
-
-using namespace eprosima::fastrtps;
-using namespace eprosima::fastrtps::rtps;
-
-HelloWorldSubscriber::HelloWorldSubscriber()
-    : mp_participant(nullptr)
-    , mp_subscriber(nullptr)
-{
-}
-
-bool HelloWorldSubscriber::init()
-{
-    ParticipantAttributes PParam;
-    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
-    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
-    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
-    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
-    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
-    PParam.rtps.setName("Participant_sub");
-    mp_participant = Domain::createParticipant(PParam);
-    if (mp_participant == nullptr)
-    {
-        return false;
-    }
-
-    //REGISTER THE TYPE
-
-    Domain::registerType(mp_participant, &m_type);
-    //CREATE THE SUBSCRIBER
-    SubscriberAttributes Rparam;
-    Rparam.topic.topicKind = NO_KEY;
-    Rparam.topic.topicDataType = "HelloWorld";
-    Rparam.topic.topicName = "HelloWorldTopic";
-    Rparam.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
-    Rparam.topic.historyQos.depth = 30;
-    Rparam.topic.resourceLimitsQos.max_samples = 50;
-    Rparam.topic.resourceLimitsQos.allocated_samples = 20;
-    Rparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
-    Rparam.qos.m_durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
-    mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*)&m_listener);
-
-    if (mp_subscriber == nullptr)
-    {
-        return false;
-    }
-
-
-    return true;
-}
-
-HelloWorldSubscriber::~HelloWorldSubscriber()
-{
-    // TODO Auto-generated destructor stub
-    Domain::removeParticipant(mp_participant);
-}
-
-void HelloWorldSubscriber::SubListener::onSubscriptionMatched(
-        Subscriber* /*sub*/,
-        MatchingInfo& info)
-{
-    if (info.status == MATCHED_MATCHING)
-    {
-        n_matched++;
-        std::cout << "Subscriber matched" << std::endl;
-    }
-    else
-    {
-        n_matched--;
-        std::cout << "Subscriber unmatched" << std::endl;
-    }
-}
-
-void HelloWorldSubscriber::SubListener::onNewDataMessage(
-        Subscriber* sub)
-{
-    if (sub->takeNextData((void*)&m_Hello, &m_info))
-    {
-        if (m_info.sampleKind == ALIVE)
-        {
-            this->n_samples++;
-            // Print your structure data here.
-            std::cout << "Message " << m_Hello.message() << " " << m_Hello.index() << " RECEIVED" << std::endl;
-        }
-    }
-
-}
-
-void HelloWorldSubscriber::run()
-{
-    std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
-    std::cin.ignore();
-}
-
-void HelloWorldSubscriber::run(
-        uint32_t number)
-{
-    std::cout << "Subscriber running until " << number << "samples have been received" << std::endl;
-    while (number > this->m_listener.n_samples)
-    {
-        std::this_thread::sleep_for(std::chrono::milliseconds(500));
-    }
-}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
deleted file mode 100644
index 2d0f4b09e1dc3..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldSubscriber.h
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2016 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.
-
-/**
- * @file HelloWorldSubscriber.h
- *
- */
-
-#ifndef HELLOWORLDSUBSCRIBER_H_
-#define HELLOWORLDSUBSCRIBER_H_
-
-#include "HelloWorldPubSubTypes.h"
-
-#include <fastrtps/fastrtps_fwd.h>
-#include <fastrtps/attributes/SubscriberAttributes.h>
-#include <fastrtps/subscriber/SubscriberListener.h>
-#include <fastrtps/subscriber/SampleInfo.h>
-
-
-
-
-#include "HelloWorld.h"
-
-class HelloWorldSubscriber
-{
-public:
-
-    HelloWorldSubscriber();
-    virtual ~HelloWorldSubscriber();
-    //!Initialize the subscriber
-    bool init();
-    //!RUN the subscriber
-    void run();
-    //!Run the subscriber until number samples have been received.
-    void run(
-            uint32_t number);
-
-private:
-
-    eprosima::fastrtps::Participant* mp_participant;
-    eprosima::fastrtps::Subscriber* mp_subscriber;
-
-public:
-
-    class SubListener : public eprosima::fastrtps::SubscriberListener
-    {
-    public:
-
-        SubListener()
-            : n_matched(0)
-            , n_samples(0)
-        {
-        }
-
-        ~SubListener()
-        {
-        }
-
-        void onSubscriptionMatched(
-                eprosima::fastrtps::Subscriber* sub,
-                eprosima::fastrtps::rtps::MatchingInfo& info);
-        void onNewDataMessage(
-                eprosima::fastrtps::Subscriber* sub);
-        HelloWorld m_Hello;
-        eprosima::fastrtps::SampleInfo_t m_info;
-        int n_matched;
-        uint32_t n_samples;
-    }
-    m_listener;
-
-private:
-
-    HelloWorldPubSubType m_type;
-};
-
-#endif /* HELLOWORLDSUBSCRIBER_H_ */
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp b/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
deleted file mode 100644
index 108719be20ad2..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld_main.cpp
+++ /dev/null
@@ -1,87 +0,0 @@
-// Copyright 2016 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.
-
-/**
- * @file HelloWorld_main.cpp
- *
- */
-
-#include "HelloWorldPublisher.h"
-#include "HelloWorldSubscriber.h"
-
-#include <fastrtps/Domain.h>
-#include <fastrtps/log/Log.h>
-
-using namespace eprosima;
-using namespace fastrtps;
-using namespace rtps;
-int main()
-{
-    std::cout << "Starting "<< std::endl;
-    
-    int argc = 2;
-    const char *argv[2] = {"", "subscribe"};
-
-    int type = 1;
-    int count = 9;
-    long sleep = 100;
-    if(argc > 1)
-    {
-        if(strcmp(argv[1],"publisher")==0)
-        {
-            type = 1;
-            if (argc >= 3)
-            {
-                count = atoi(argv[2]);
-                if (argc == 4)
-                {
-                    sleep = atoi(argv[3]);
-                }
-            }
-        }
-        else if(strcmp(argv[1],"subscriber")==0)
-            type = 2;
-    }
-    else
-    {
-        std::cout << "publisher OR subscriber argument needed" << std::endl;
-        Log::Reset();
-        return 0;
-    }
-
-    switch(type)
-    {
-        case 1:
-            {
-                HelloWorldPublisher mypub;
-                if(mypub.init())
-                {
-                    mypub.run(count, sleep);
-                }
-                break;
-            }
-        case 2:
-            {
-                HelloWorldSubscriber mysub;
-                if(mysub.init())
-                {
-                    mysub.run();
-                }
-                break;
-            }
-    }
-    Domain::stopAll();
-    Log::Reset();
-    return 0;
-}
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile b/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
deleted file mode 100644
index 615002f781d84..0000000000000
--- a/recipes/fast-dds/all/test_package/HelloWorldExample/Makefile
+++ /dev/null
@@ -1,102 +0,0 @@
-# Copyright 2016 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.
-
-CPP=g++
-LN=g++
-AR=ar
-CP=cp
-SYSLIBS= -ldl -lnsl -lm -lpthread -lrt
-DEFINES= 
-COMMON_CFLAGS= -c -Wall -D__LITTLE_ENDIAN__ -std=c++11
-
-## CHOOSE HERE BETWEEN 32 and 64 bit architecture
-
-##32 BIT ARCH:
-#COMMON_CFLAGS+= -m32 -fpic
-#LDFLAGS=-m32
-
-#64BIT ARCH:
-COMMON_CFLAGS+= -m64 -fpic
-LDFLAGS=-m64
-
-CFLAGS = $(COMMON_CFLAGS) -O2
-
-INCLUDES= -I.
-
-LIBS = -lfastcdr -lfastrtps $(shell test -x "$$(which pkg-config)" && pkg-config libssl libcrypto --libs --silence-errors) $(SYSLIBS)
-
-DIRECTORIES= output.dir bin.dir
-
-all: $(DIRECTORIES) HelloWorldExample
-
-HELLOWORLDEXAMPLE_TARGET= bin/HelloWorldExample
-
-HELLOWORLDEXAMPLE_SRC_CXXFILES=
-
-HELLOWORLDEXAMPLE_SRC_CPPFILES= HelloWorldExample/HelloWorld.cxx \
-								HelloWorldExample/HelloWorldPubSubTypes.cxx \
-								HelloWorldExample/HelloWorldPublisher.cpp \
-								HelloWorldExample/HelloWorldSubscriber.cpp \
-								HelloWorldExample/HelloWorld_main.cpp 
-
-
-# Project sources are copied to the current directory
-HELLOWORLDEXAMPLE_SRCS= $(HELLOWORLDEXAMPLE_SRC_CXXFILES) $(HELLOWORLDEXAMPLE_SRC_CPPFILES)
-
-# Source directories
-HELLOWORLDEXAMPLE_SOURCES_DIRS_AUX= $(foreach srcdir, $(dir $(HELLOWORLDEXAMPLE_SRCS)), $(srcdir))
-HELLOWORLDEXAMPLE_SOURCES_DIRS= $(shell echo $(HELLOWORLDEXAMPLE_SOURCES_DIRS_AUX) | tr " " "\n" | sort | uniq | tr "\n" " ")
-
-HELLOWORLDEXAMPLE_OBJS = $(foreach obj,$(notdir $(addsuffix .o, $(HELLOWORLDEXAMPLE_SRCS))), output/$(obj))
-HELLOWORLDEXAMPLE_DEPS = $(foreach dep,$(notdir $(addsuffix .d, $(HELLOWORLDEXAMPLE_SRCS))), output/$(dep))
-
-OBJS+=  $(HELLOWORLDEXAMPLE_OBJS)
-DEPS+=  $(HELLOWORLDEXAMPLE_DEPS)
-
-HelloWorldExample: $(HELLOWORLDEXAMPLE_TARGET)
-
-$(HELLOWORLDEXAMPLE_TARGET): $(HELLOWORLDEXAMPLE_OBJS)
-	$(LN) $(LDFLAGS) -o $(HELLOWORLDEXAMPLE_TARGET) $(HELLOWORLDEXAMPLE_OBJS) $(LIBS)
-
-vpath %.cxx $(HELLOWORLDEXAMPLE_SOURCES_DIRS)
-vpath %.cpp $(HELLOWORLDEXAMPLE_SOURCES_DIRS)
-
-output/%.cxx.o:%.cxx
-	@echo Calculating dependencies $<
-	@$(CC) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cxx.o=%.cxx.d)
-	@echo Compiling $<
-	@$(CC) $(CFLAGS) $(INCLUDES) $< -o $@
-
-output/%.cpp.o:%.cpp
-	@echo Calculating dependencies $<
-	@$(CPP) $(CFLAGS) -MM $(CFLAGS) $(INCLUDES) $< | sed "s/^.*:/output\/&/g" > $(@:%.cpp.o=%.cpp.d)
-	@echo Compiling $<
-	@$(CPP) $(CFLAGS) $(INCLUDES) $< -o $@
-
-.PHONY: HelloWorldExample
-
-clean:
-	@rm -f $(OBJS)
-	@rm -f $(DEPS)
-
-ifneq ($(MAKECMDGOALS), clean)
--include $(DEPS)
-endif
-
-%.dir : 
-	@echo "Checking directory $*"
-	@if [ ! -d $* ]; then \
-		echo "Making directory $*"; \
-		mkdir -p $* ; \
-	fi;
diff --git a/recipes/fast-dds/all/test_package/conanfile.py b/recipes/fast-dds/all/test_package/conanfile.py
index 1d0bdd3779793..23ba95e79f465 100644
--- a/recipes/fast-dds/all/test_package/conanfile.py
+++ b/recipes/fast-dds/all/test_package/conanfile.py
@@ -1,7 +1,6 @@
 from conans import ConanFile, CMake, tools
 import os
 
-
 class TestPackageConan(ConanFile):
     settings = "os", "compiler", "build_type", "arch"
     generators = "cmake", "cmake_find_package"
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx b/recipes/fast-dds/all/test_package/msg/HelloWorld.cxx
similarity index 100%
rename from recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.cxx
rename to recipes/fast-dds/all/test_package/msg/HelloWorld.cxx
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h b/recipes/fast-dds/all/test_package/msg/HelloWorld.h
similarity index 100%
rename from recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.h
rename to recipes/fast-dds/all/test_package/msg/HelloWorld.h
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl b/recipes/fast-dds/all/test_package/msg/HelloWorld.idl
similarity index 100%
rename from recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorld.idl
rename to recipes/fast-dds/all/test_package/msg/HelloWorld.idl
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx b/recipes/fast-dds/all/test_package/msg/HelloWorldPubSubTypes.cxx
similarity index 100%
rename from recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.cxx
rename to recipes/fast-dds/all/test_package/msg/HelloWorldPubSubTypes.cxx
diff --git a/recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h b/recipes/fast-dds/all/test_package/msg/HelloWorldPubSubTypes.h
similarity index 100%
rename from recipes/fast-dds/all/test_package/HelloWorldExample/HelloWorldPubSubTypes.h
rename to recipes/fast-dds/all/test_package/msg/HelloWorldPubSubTypes.h
diff --git a/recipes/fast-dds/all/test_package/test_package.cpp b/recipes/fast-dds/all/test_package/test_package.cpp
new file mode 100644
index 0000000000000..fe2ff9f06fe79
--- /dev/null
+++ b/recipes/fast-dds/all/test_package/test_package.cpp
@@ -0,0 +1,57 @@
+#include <iostream>
+#include <fastrtps/participant/Participant.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+#include <fastrtps/publisher/Publisher.h>
+#include <fastrtps/Domain.h>
+
+
+#include "msg/HelloWorld.h"
+#include "msg/HelloWorldPubSubTypes.h"
+
+int main()
+{
+    // Define msg to send 
+    HelloWorld hello;
+    hello.index(0);
+    hello.message("HelloWorld");
+
+	eprosima::fastrtps::Participant *participant;
+	eprosima::fastrtps::Publisher *publisher;
+
+    eprosima::fastrtps::ParticipantAttributes PParam;
+    PParam.rtps.setName("Participant_pub");
+    participant = eprosima::fastrtps::Domain::createParticipant(PParam);
+
+    if (participant == nullptr)
+    {
+        return 1;
+    }
+
+    HelloWorldPubSubType type;
+
+    eprosima::fastrtps::Domain::registerType(participant, &type);
+
+    //CREATE THE PUBLISHER
+    eprosima::fastrtps::PublisherAttributes Wparam;
+    Wparam.topic.topicKind = eprosima::fastrtps::rtps::TopicKind_t::NO_KEY;
+    Wparam.topic.topicDataType = "HelloWorld";
+    Wparam.topic.topicName = "HelloWorldTopic";
+    Wparam.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
+    Wparam.topic.historyQos.depth = 30;
+    Wparam.topic.resourceLimitsQos.max_samples = 50;
+    Wparam.topic.resourceLimitsQos.allocated_samples = 20;
+    Wparam.times.heartbeatPeriod.seconds = 2;
+    Wparam.times.heartbeatPeriod.nanosec = 200 * 1000 * 1000;
+    publisher = eprosima::fastrtps::Domain::createPublisher(participant, Wparam);
+    if (publisher == nullptr)
+    {
+        return 1;
+    }
+
+    publisher->write((void*)&hello);
+
+    eprosima::fastrtps::Domain::removeParticipant(participant);
+
+    return 0;
+}

From 768f742dfc87c9b6c781b9751f90de8153c01561 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Mon, 28 Jun 2021 02:36:20 -0700
Subject: [PATCH 20/23] Followed PR requirements, add more from templates

---
 recipes/fast-dds/all/CMakeLists.txt |  3 --
 recipes/fast-dds/all/conanfile.py   | 55 ++++++++++++++---------------
 2 files changed, 27 insertions(+), 31 deletions(-)

diff --git a/recipes/fast-dds/all/CMakeLists.txt b/recipes/fast-dds/all/CMakeLists.txt
index 477562d4c9986..8b9014fcee176 100644
--- a/recipes/fast-dds/all/CMakeLists.txt
+++ b/recipes/fast-dds/all/CMakeLists.txt
@@ -4,7 +4,4 @@ project(cmake_wrapper)
 include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
 conan_basic_setup()
 
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 add_subdirectory("source_subfolder")
diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index e5e639e408109..a740faa8561a2 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -60,6 +60,19 @@ def _module_file_rel_path(self):
             self._module_subfolder,
             "conan-target-properties.cmake"
         )
+    
+    @property
+    def _minimum_cpp_standard(self):
+        return 11
+
+    @property
+    def _minimum_compilers_version(self):
+        return {
+            "Visual Studio": "16",
+            "gcc": "5",
+            "clang": "5.0",
+            "apple-clang": "5.0",
+        }
 
     @staticmethod
     def _create_cmake_module_alias_targets(module_file, targets):
@@ -112,26 +125,21 @@ def source(self):
                   destination=self._source_subfolder)
 
     def validate(self):
-        os = self.settings.os
-        compiler = self.settings.compiler
-        version = tools.Version(self.settings.compiler.version)
-        if compiler.get_safe("cppstd"):
-            tools.check_min_cppstd(self, 11)
-        if os == "Linux" and compiler == "gcc" and version < "5":
-            raise ConanInvalidConfiguration(
-                "Using Fast-DDS with gcc on Linux requires gcc 5 or higher.")
-        if os == "Linux" and compiler == "clang" and version < "5.0":
-            raise ConanInvalidConfiguration(
-                "Using Fast-DDS with clang on Linux requires clang 5 or higher.")
-        if os == "Windows" and compiler == "Visual Studio" and version < "16":
-            raise ConanInvalidConfiguration(
-                "Fast-DDS was tested on Windows with VS Compiler 16")
-        
+        if self.settings.compiler.get_safe("cppstd"):
+            tools.check_min_cppstd(self, self._minimum_cpp_standard)
+        min_version = self._minimum_compilers_version.get(str(self.settings.compiler))
+        if not min_version:
+            self.output.warn("{} recipe lacks information about the {} compiler support.".format(
+                self.name, self.settings.compiler))
+        else:
+            if tools.Version(self.settings.compiler.version) < min_version:
+                raise ConanInvalidConfiguration("{} requires C++{} support. The current compiler {} {} does not support it.".format(
+                    self.name, self._minimum_cpp_standard, self.settings.compiler, self.settings.compiler.version))
         if self.settings.os == "Windows":
             if ("MT" in self.settings.compiler.runtime and self.options.shared):
                 # This combination leads to an fast-dds error when linking
                 # linking dynamic '*.dll' and static MT runtime
-                raise ConanInvalidConfiguration("Mixing a dll eprosima library with a static runtime is a bad idea")
+                raise ConanInvalidConfiguration("Mixing a dll {} library with a static runtime is a bad idea".format(self.name))
 
 
     def build(self):
@@ -174,20 +182,11 @@ def package_info(self):
             "foonathan-memory::foonathan-memory"
         ]
         if self.settings.os in ["Linux", "Macos", "Neutrino"]:
-            self.cpp_info.components["fastrtps"].system_libs = [
-                    "pthread"
-                ]
+            self.cpp_info.components["fastrtps"].system_libs.append("pthread")
         if self.settings.os == "Linux":
-            self.cpp_info.components["fastrtps"].system_libs = [
-                    "rt",
-                    "dl",
-                    "atomic"
-                ]
+            self.cpp_info.components["fastrtps"].system_libs.extend(["rt", "dl", "atomic"])
         elif self.settings.os == "Windows":
-            self.cpp_info.components["fastrtps"].system_libs = [
-                "iphlpapi",
-                "shlwapi"
-            ]
+            self.cpp_info.components["fastrtps"].system_libs.extend(["iphlpapi","shlwapi"])
             if self.options.shared:
                 self.cpp_info.components["fastrtps"].defines.append("FASTRTPS_DYN_LINK")
         if self.options.with_ssl:

From b9fb19ec4795f4ef7c903a9c76bdba3626c9062e Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Mon, 28 Jun 2021 04:24:15 -0700
Subject: [PATCH 21/23] adapt compiler check and add boost as requirement

---
 recipes/fast-dds/all/conanfile.py                | 10 ++++++----
 recipes/fast-dds/all/test_package/CMakeLists.txt |  2 ++
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index a740faa8561a2..1fb33530536b5 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -68,10 +68,10 @@ def _minimum_cpp_standard(self):
     @property
     def _minimum_compilers_version(self):
         return {
-            "Visual Studio": "16",
+            "Visual Studio": "14",
             "gcc": "5",
-            "clang": "5.0",
-            "apple-clang": "5.0",
+            "clang": "3.9",
+            "apple-clang": "8",
         }
 
     @staticmethod
@@ -117,6 +117,7 @@ def requirements(self):
         self.requires("asio/1.18.2")
         self.requires("fast-cdr/1.0.21")
         self.requires("foonathan-memory/0.7.0")
+        self.requires("boost/1.73.0")
         if self.options.with_ssl:
             self.requires("openssl/1.1.1k")
 
@@ -179,7 +180,8 @@ def package_info(self):
             "fast-cdr::fast-cdr",
             "asio::asio",
             "tinyxml2::tinyxml2",
-            "foonathan-memory::foonathan-memory"
+            "foonathan-memory::foonathan-memory",
+            "boost::boost"
         ]
         if self.settings.os in ["Linux", "Macos", "Neutrino"]:
             self.cpp_info.components["fastrtps"].system_libs.append("pthread")
diff --git a/recipes/fast-dds/all/test_package/CMakeLists.txt b/recipes/fast-dds/all/test_package/CMakeLists.txt
index c20ee536c524b..33450e84a9e7a 100644
--- a/recipes/fast-dds/all/test_package/CMakeLists.txt
+++ b/recipes/fast-dds/all/test_package/CMakeLists.txt
@@ -12,6 +12,8 @@ add_executable(test_package
     msg/HelloWorldPubSubTypes.cxx
 )
 
+set_property(TARGET test_package PROPERTY CXX_STANDARD 11)
+
 target_link_libraries(test_package
     fastrtps
 )

From a3af6996a0d8d3105eacf7944483ae16fe0fa783 Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Mon, 28 Jun 2021 23:04:15 -0700
Subject: [PATCH 22/23] Retrigger CI

---
 recipes/fast-dds/all/test_package/test_package.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/recipes/fast-dds/all/test_package/test_package.cpp b/recipes/fast-dds/all/test_package/test_package.cpp
index fe2ff9f06fe79..89ac973375f14 100644
--- a/recipes/fast-dds/all/test_package/test_package.cpp
+++ b/recipes/fast-dds/all/test_package/test_package.cpp
@@ -5,7 +5,6 @@
 #include <fastrtps/publisher/Publisher.h>
 #include <fastrtps/Domain.h>
 
-
 #include "msg/HelloWorld.h"
 #include "msg/HelloWorldPubSubTypes.h"
 

From 97b799770e357c70ce5a0d37a4476617530d022a Mon Sep 17 00:00:00 2001
From: dotchris90 <christian.kahr@gmx.de>
Date: Wed, 30 Jun 2021 00:57:54 -0700
Subject: [PATCH 23/23] Rise number to avoid partly C++11 implementations

---
 recipes/fast-dds/all/conanfile.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/recipes/fast-dds/all/conanfile.py b/recipes/fast-dds/all/conanfile.py
index 1fb33530536b5..8c3b540be9e20 100644
--- a/recipes/fast-dds/all/conanfile.py
+++ b/recipes/fast-dds/all/conanfile.py
@@ -68,7 +68,7 @@ def _minimum_cpp_standard(self):
     @property
     def _minimum_compilers_version(self):
         return {
-            "Visual Studio": "14",
+            "Visual Studio": "16",
             "gcc": "5",
             "clang": "3.9",
             "apple-clang": "8",