diff --git a/.github/workflows/config/asan_colcon.meta b/.github/workflows/config/asan.meta
similarity index 100%
rename from .github/workflows/config/asan_colcon.meta
rename to .github/workflows/config/asan.meta
diff --git a/.github/workflows/config/discovery_server.meta b/.github/workflows/config/discovery_server.meta
new file mode 100644
index 00000000000..89f8955e803
--- /dev/null
+++ b/.github/workflows/config/discovery_server.meta
@@ -0,0 +1,11 @@
+names:
+    fastrtps:
+        cmake-args:
+            - "-DCOMPILE_TOOLS=ON"
+            - "-DINSTALL_TOOLS=ON"
+    discovery-server:
+        ctest-args: [
+                "--repeat", "until-pass:3",
+                "--timeout", "300",
+                "--label-exclude", "xfail"
+        ]
diff --git a/.github/workflows/config/documentation.meta b/.github/workflows/config/documentation.meta
index c0d85a3d55f..9781a11c60b 100644
--- a/.github/workflows/config/documentation.meta
+++ b/.github/workflows/config/documentation.meta
@@ -1,15 +1,11 @@
 names:
-    fastrtps:
-        cmake-args:
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DSECURITY=ON"
-            - "-DTHIRDPARTY_Asio=FORCE"
-            - "-DTHIRDPARTY_TinyXML2=FORCE"
-            - "-DTHIRDPARTY_UPDATE=OFF"
     fastdds-docs:
         cmake-args:
             - "-DBUILD_DOCUMENTATION=ON"
             - "-DCOMPILE_TESTS=ON"
+        ctest-args: [
+                "--timeout", "500"
+        ]
     googletest-distribution:
         cmake-args:
             - "-Dgtest_force_shared_crt=ON"
diff --git a/.github/workflows/config/ci.meta b/.github/workflows/config/fastdds_build.meta
similarity index 51%
rename from .github/workflows/config/ci.meta
rename to .github/workflows/config/fastdds_build.meta
index 657982f1d8a..1446b8f0589 100644
--- a/.github/workflows/config/ci.meta
+++ b/.github/workflows/config/fastdds_build.meta
@@ -2,27 +2,12 @@ names:
     fastrtps:
         cmake-args:
             - "-DBUILD_DOCUMENTATION=OFF"
-            - "-DBUILD_SHARED_LIBS=ON"
             - "-DCOMPILE_EXAMPLES=ON"
-            - "-DEPROSIMA_BUILD_TESTS=ON"
             - "-DFASTDDS_ENFORCE_LOG_INFO=ON"
-            - "-DFASTDDS_PIM_API_TESTS=ON"
-            - "-DFASTDDS_STATISTICS=ON"
-            - "-DFASTRTPS_API_TESTS=OFF"
-            - "-DGTEST_INDIVIDUAL=ON"
             - "-DINSTALL_EXAMPLES=ON"
-            - "-DINSTALL_TOOLS=ON"
             - "-DINTERNAL_DEBUG=ON"
             - "-DNO_TLS=OFF"
-            - "-DPERFORMANCE_TESTS=ON"
-            - "-DPROFILING_TESTS=OFF"
             - "-DSHM_TRANSPORT_DEFAULT=ON"
             - "-DSTRICT_REALTIME=OFF"
-            - "-DSYSTEM_TESTS=ON"
             - "-DMEMORYCHECK_COMMAND_OPTIONS=-q --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=50 --log-fd=2 --error-exitcode=1"
             - "-DMEMORYCHECK_SUPPRESSIONS_FILE=../../src/fastrtps/valgrind.supp"
-    googletest-distribution:
-        cmake-args:
-            - "-Dgtest_force_shared_crt=ON"
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/fastdds_test.meta b/.github/workflows/config/fastdds_test.meta
new file mode 100644
index 00000000000..49ece874c81
--- /dev/null
+++ b/.github/workflows/config/fastdds_test.meta
@@ -0,0 +1,19 @@
+names:
+    fastrtps:
+        cmake-args:
+            - "-DEPROSIMA_BUILD_TESTS=ON"
+            - "-DFASTDDS_PIM_API_TESTS=ON"
+            - "-DPERFORMANCE_TESTS=ON"
+            - "-DPROFILING_TESTS=OFF"
+            - "-DCOMPILE_TOOLS=ON"
+            - "-DSYSTEM_TESTS=ON"
+        ctest-args: [
+                "--repeat", "until-pass:3",
+                "--timeout", "300",
+                "--label-exclude", "xfail"
+        ]
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/ci.repos b/.github/workflows/config/fastdds_test.repos
similarity index 100%
rename from .github/workflows/config/ci.repos
rename to .github/workflows/config/fastdds_test.repos
diff --git a/.github/workflows/config/python_test.meta b/.github/workflows/config/python_test.meta
new file mode 100644
index 00000000000..fc086118b84
--- /dev/null
+++ b/.github/workflows/config/python_test.meta
@@ -0,0 +1,15 @@
+names:
+    fastdds_python:
+        cmake-args:
+            - "-DBUILD_TESTING=ON"
+            - "-DBUILD_DOCUMENTATION=ON"
+        ctest-args: [
+                "--repeat", "until-pass:3",
+                "--timeout", "300",
+                "--label-exclude", "xfail"
+        ]
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan.meta
similarity index 100%
rename from .github/workflows/config/tsan_colcon.meta
rename to .github/workflows/config/tsan.meta
diff --git a/.github/workflows/documentation-tests.yaml b/.github/workflows/documentation-tests.yaml
deleted file mode 100644
index dbb12f71578..00000000000
--- a/.github/workflows/documentation-tests.yaml
+++ /dev/null
@@ -1,159 +0,0 @@
-name: Documentation build and test
-on:
-  workflow_dispatch:
-    inputs:
-      fastdds_docs_branch:
-        description: 'Fast DDS Docs branch'
-        required: true
-        type: string
-      fastdds_python_branch:
-        description: 'Fast DDS Python branch'
-        required: true
-        type: string
-
-  pull_request:
-    types:
-      - review_requested
-    paths-ignore:
-      - '**.md'
-      - '**.txt'
-      - '!**/CMakeLists.txt'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  ubuntu-build-and-test-documentation:
-    name: Documentation build and test
-    if: ${{ (
-              !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
-              !contains(github.event.pull_request.labels.*.name, 'conflicts')
-            ) }}
-
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Add ci-pending label if PR
-        if: ${{ github.event_name == 'pull_request' }}
-        uses: eProsima/eProsima-CI/external/add_labels@v0
-        with:
-          labels: ci-pending
-          number: ${{ github.event.number }}
-          repo: eProsima/Fast-DDS
-
-      - name: Sync eProsima/Fast-DDS repository
-        uses: eProsima/eProsima-CI/external/checkout@v0
-        with:
-          path: src/fastrtps
-          submodules: true
-
-      - name: Get minimum supported version of CMake
-        uses: eProsima/eProsima-CI/external/get-cmake@v0
-        with:
-          cmakeVersion: '3.22.6'
-
-      - name: Setup CCache
-        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
-        with:
-          api_token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Install apt dependencies
-        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
-        with:
-          packages: curl grep wget libssl-dev doxygen imagemagick plantuml
-          update: false
-          upgrade: false
-
-      - name: Install Python dependencies
-        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
-        with:
-          packages: vcstool
-          upgrade: false
-
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Download Fast DDS .repos
-        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
-        with:
-          vcs_repos_file: ./src/fastrtps/fastrtps.repos
-          destination_workspace: src
-          skip_existing: 'true'
-
-      - name: Fetch Fast DDS CI dependencies
-        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
-        with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
-          destination_workspace: src
-          skip_existing: 'true'
-
-      - name: Get Fast DDS Python branch
-        id: get_fastdds_python_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Fast-DDS-python
-          fallback_branch: ${{ inputs.fastdds_python_branch || '1.2.x' }}
-
-      - name: Download Fast DDS Python repo
-        uses: eProsima/eProsima-CI/external/checkout@v0
-        with:
-          repository: eProsima/Fast-DDS-python
-          path: src/fastdds-python
-          ref: ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }}
-
-      - name: Get Fast DDS Docs branch
-        id: get_fastdds_docs_branch
-        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
-        with:
-          remote_repository: eProsima/Fast-DDS-docs
-          fallback_branch: ${{ inputs.fastdds_docs_branch || '2.10.x' }}
-
-      - name: Download Fast DDS documentation repo
-        uses: eProsima/eProsima-CI/external/checkout@v0
-        with:
-          repository: eProsima/Fast-DDS-docs
-          path: src/fastdds-docs
-          ref: ${{ steps.get_fastdds_docs_branch.outputs.deduced_branch }}
-
-      - name: Install Fast DDS Docs required python packages
-        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
-        with:
-          upgrade: false
-          requirements_file_name: src/fastdds-docs/docs/requirements.txt
-
-      - name: Colcon build
-        continue-on-error: false
-        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
-        with:
-          colcon_meta_file: './src/fastrtps/.github/workflows/config/documentation.meta'
-          colcon_build_args: ''
-          colcon_build_args_default: ''
-          cmake_args: ''
-          cmake_args_default: ''
-          cmake_build_type: Release
-          workspace: ${{ github.workspace }}
-          workspace_dependencies: ''
-
-      - name: Colcon test
-        id: test
-        if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
-        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
-        with:
-          colcon_test_args: ''
-          colcon_test_args_default: --event-handlers=console_direct+
-          ctest_args: ''
-          ctest_args_default: ''
-          packages_names: fastdds-docs
-          workspace: ${{ github.workspace }}
-          workspace_dependencies: ''
-          test_report_artifact: ${{ format('test_report_{0}', github.job, join(matrix.*, '_')) }}
-
-      - name: Test summary
-        uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
-        if: ${{ !cancelled() && !contains(github.event.pull_request.labels.*.name, 'no-test') }}
-        with:
-          junit_reports_dir: "${{ steps.test.outputs.ctest_results_path }}"
-          print_summary: 'True'
-          show_failed: 'True'
-          show_disabled: 'False'
-          show_skipped: 'False'
diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index 2177e4b2079..c4c2a3f267a 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -37,7 +37,6 @@ jobs:
     # so we'll use that one for now, as clang 15 is the supported compiler for Fast DDS in macOS.
     # (see https://github.com/eProsima/Fast-DDS/blob/master/PLATFORM_SUPPORT.md#compilers)
     runs-on: macos-13
-    if: ${{ !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
     strategy:
       fail-fast: false
       matrix:
@@ -113,7 +112,7 @@ jobs:
       - name: Fetch Fast DDS CI dependencies
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
           destination_workspace: src
           skip_existing: 'true'
 
@@ -125,7 +124,7 @@ jobs:
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.meta
           colcon_build_args: ${{ inputs.colcon-args }}
           cmake_args: ${{ inputs.cmake-args }}
           cmake_args_default: -DCMAKE_CXX_FLAGS="-Werror -Wall -Wno-enum-constexpr-conversion"
@@ -137,10 +136,10 @@ jobs:
         if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
         uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
         with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.meta
           colcon_test_args: ${{ inputs.colcon-args }}
           colcon_test_args_default: --event-handlers=console_direct+
           ctest_args: ${{ inputs.ctest-args }}
-          ctest_args_default: --repeat until-pass:3 --timeout 300 --label-exclude "xfail"
           packages_names: fastrtps
           workspace: ${{ github.workspace }}
           test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
diff --git a/.github/workflows/reusable-sanitizers-ci.yml b/.github/workflows/reusable-sanitizers-ci.yml
index 883a94143ce..b02c856903d 100644
--- a/.github/workflows/reusable-sanitizers-ci.yml
+++ b/.github/workflows/reusable-sanitizers-ci.yml
@@ -52,12 +52,7 @@ defaults:
 
 jobs:
   asan_fastdds_build:
-    if: ${{ (
-          !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
-          !contains(github.event.pull_request.labels.*.name, 'no-test') &&
-          !contains(github.event.pull_request.labels.*.name, 'conflicts') &&
-          (inputs.run_asan_fastdds == true)
-        ) }}
+    if: ${{ inputs.run_asan_fastdds == true }}
     runs-on: ubuntu-22.04
     steps:
       - name: Add ci-pending label if PR
@@ -114,13 +109,13 @@ jobs:
       - name: Show .meta file
         id: show_meta
         run: |
-          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
 
       - name: Colcon build
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
           colcon_build_args: ${{ inputs.colcon_build_args }}
           cmake_args: ${{ inputs.cmake_args }}
           cmake_args_default: ''
@@ -182,13 +177,13 @@ jobs:
       - name: Show .meta file
         id: show_meta
         run: |
-          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
 
       - name: Colcon build
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
           colcon_build_args: ${{ inputs.colcon_build_args }}
           cmake_args: ${{ inputs.cmake_args }}
           cmake_args_default: -DEPROSIMA_BUILD_TESTS=ON -DGTEST_INDIVIDUAL=ON -DRTPS_API_TESTS=ON -DFASTRTPS_API_TESTS=ON -DFASTDDS_PIM_API_TESTS=ON -DPERFORMANCE_TESTS=ON
@@ -197,7 +192,7 @@ jobs:
           workspace_dependencies: ''
 
       - name: Colcon test
-        if: ${{ inputs.run_asan_fastdds }}
+        if: ${{ inputs.run_asan_fastdds == true }}
         id: test
         continue-on-error: true
         uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
@@ -212,7 +207,7 @@ jobs:
           test_report_artifact: ${{ format('test_report_{0}_{1}', inputs.label, github.job) }}
 
       - name: Report sanitizer errors
-        if: ${{ inputs.run_asan_fastdds }}
+        if: ${{ inputs.run_asan_fastdds == true }}
         run: |
           bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh \
             "==ERROR:" \
@@ -226,12 +221,7 @@ jobs:
             --sanitizer asan
 
   asan_discovery_server_test:
-    if: ${{ (
-          !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
-          !contains(github.event.pull_request.labels.*.name, 'no-test') &&
-          !contains(github.event.pull_request.labels.*.name, 'conflicts') &&
-          (inputs.run_asan_discovery_server == true)
-        ) }}
+    if: ${{ inputs.run_asan_discovery_server == true }}
     needs: asan_fastdds_build
     runs-on: ubuntu-22.04
     steps:
@@ -281,13 +271,13 @@ jobs:
       - name: Show .meta file
         id: show_meta
         run: |
-          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
 
       - name: Colcon build
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan_colcon.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/asan.meta
           colcon_build_args: ${{ inputs.colcon_build_args }}
           cmake_args: ${{ inputs.cmake_args }}
           cmake_args_default: ''
@@ -296,7 +286,7 @@ jobs:
           workspace_dependencies: ''
 
       - name: Colcon test
-        if: ${{ inputs.run_asan_fastdds }}
+        if: ${{ inputs.run_asan_fastdds == true }}
         id: test
         continue-on-error: true
         uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
@@ -311,7 +301,7 @@ jobs:
           test_report_artifact: ${{ format('test_report_{0}_{1}', inputs.label, github.job) }}
 
       - name: Report sanitizer errors
-        if: ${{ inputs.run_asan_discovery_server }}
+        if: ${{ inputs.run_asan_discovery_server == true }}
         run: |
           bash src/fastrtps/.github/workflows/utils/specific_errors_filter.sh \
             "==ERROR:" \
@@ -325,12 +315,7 @@ jobs:
             --sanitizer=asan
 
   tsan_fastdds_test:
-    if: ${{ (
-          !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
-          !contains(github.event.pull_request.labels.*.name, 'no-test') &&
-          !contains(github.event.pull_request.labels.*.name, 'conflicts') &&
-          (inputs.run_tsan_fastdds == true)
-        ) }}
+    if: ${{ inputs.run_tsan_fastdds == true }}
     runs-on: ubuntu-22.04
     env:
       TSAN_OPTIONS: second_deadlock_stack=1 history_size=7 memory_limit_mb=5000
@@ -398,20 +383,20 @@ jobs:
       - name: Fetch Fast DDS CI dependencies
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
           destination_workspace: src
           skip_existing: 'true'
 
       - name: Show .meta file
         id: show_meta
         run: |
-          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan_colcon.meta
+          cat ${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan.meta
 
       - name: Colcon build
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan_colcon.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/tsan.meta
           colcon_build_args: ${{ inputs.colcon_build_args }}
           cmake_args: ${{ inputs.cmake_args }}
           cmake_args_default: ''
@@ -420,7 +405,7 @@ jobs:
           workspace_dependencies: ''
 
       - name: Colcon test
-        if: ${{ inputs.run_asan_fastdds }}
+        if: ${{ inputs.run_asan_fastdds == true }}
         id: test
         continue-on-error: true
         uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 49207f58f05..2862c4cc534 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -27,15 +27,32 @@ on:
         description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
         required: true
         type: string
+      security:
+        description: 'Enable security features'
+        required: false
+        type: boolean
+        default: true
+      run-tests:
+        description: 'Run test suite of Fast DDS, Fast DDS python, and Fast DDS Discovery Server'
+        required: false
+        type: boolean
+        default: true
+      use-ccache:
+        description: 'Use CCache to speed up the build'
+        required: false
+        type: boolean
+        default: false
 
+env:
+  security-cmake-flag: ${{ inputs.security == true && '-DSECURITY=ON' || '-DSECURITY=OFF' }}
+  colcon-build-default-cmake-args: '-DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wpedantic -Wunused-value -Woverloaded-virtual"'
 defaults:
   run:
     shell: bash
 
 jobs:
-  reusable-ubuntu-ci:
+  fastdds_build:
     runs-on: ${{ inputs.os-image }}
-    if: ${{ !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
     strategy:
       fail-fast: false
       matrix:
@@ -84,6 +101,79 @@ jobs:
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      # Compiling Fast DDS tools has a problem with the symbolic link when the artifact is uploaded
+      # and downloaded, as it loses its permissions and then the tests fail. To work around this issue,
+      # we disable the compilation of the tools here and enable it in the Fast DDS test job.
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '-DCOMPILE_TOOLS=OFF ${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Upload build artifacts
+        uses: eProsima/eProsima-CI/external/upload-artifact@v0
+        with:
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+  fastdds_test:
+    needs: fastdds_build
+    runs-on: ${{ inputs.os-image }}
+    if: ${{ inputs.run-tests == true }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
         with:
           api_token: ${{ secrets.GITHUB_TOKEN }}
 
@@ -102,20 +192,359 @@ jobs:
       # TODO(eduponz): Set up libp11 and SoftHSM. NOTE: using SoftHSM requires adding the runner to a group,
       #                which entails logout/login or rebooting the machine. This is not feasible in a CI environment.
 
-      - name: Fetch Fast DDS dependencies
+      - name: Fetch Fast DDS CI dependencies
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
           destination_workspace: src
           skip_existing: 'true'
 
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: '${{ env.colcon-build-default-cmake-args }} -DFASTDDS_EXAMPLE_TESTS=ON'
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Colcon test
+        id: test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.meta
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --event-handlers=console_direct+
+          ctest_args: ${{ inputs.ctest-args }}
+          packages_names: fastrtps
+          workspace: ${{ github.workspace }}
+          test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
+
+      - name: Fast DDS test summary
+        uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
+        if: ${{ !cancelled() }}
+        with:
+          junit_reports_dir: "${{ steps.test.outputs.ctest_results_path }}"
+          print_summary: 'True'
+          show_failed: 'True'
+          show_disabled: 'False'
+          show_skipped: 'False'
+
+  fastdds_python_build:
+    needs: fastdds_build
+    runs-on: ${{ inputs.os-image }}
+    if: ${{ inputs.security == true }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev swig
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: xmlschema
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get Fast DDS Python branch
+        id: get_fastdds_python_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Fast-DDS-python
+          fallback_branch: main
+
+      - name: Download Fast DDS Python repo
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS-python
+          path: src/fastdds-python
+          ref: ${{ steps.get_fastdds_python_branch.outputs.deduced_branch }}
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ''
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Upload python build artifacts
+        uses: eProsima/eProsima-CI/external/upload-artifact@v0
+        with:
+          name: fastdds_python_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+  fastdds_python_test:
+    needs: fastdds_python_build
+    runs-on: ${{ inputs.os-image }}
+    if: ${{ inputs.security == true && inputs.run-tests == true }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download python build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_python_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev swig
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
+
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta ${{ github.workspace }}/src/fastrtps/.github/workflows/config/python_test.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ''
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Colcon test
+        id: python_test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/python_test.meta
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --event-handlers=console_direct+
+          ctest_args: ${{ inputs.ctest-args }}
+          packages_names: fastdds_python
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+          test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
+
+      - name: Fast DDS Python test summary
+        uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
+        if: ${{ !cancelled() }}
+        with:
+          junit_reports_dir: "${{ steps.python_test.outputs.ctest_results_path }}"
+          print_summary: 'True'
+          show_failed: 'True'
+          show_disabled: 'False'
+          show_skipped: 'False'
+
+  fastdds_docs_test:
+    needs: fastdds_python_build
+    runs-on: ${{ inputs.os-image }}
+    if: ${{ inputs.security == true }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download python build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_python_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev swig doxygen imagemagick plantuml
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get Fast DDS Docs branch
+        id: get_fastdds_docs_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Fast-DDS-docs
+          fallback_branch: '2.10.x'
+
+      - name: Download Fast DDS documentation repo
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS-docs
+          path: src/fastdds-docs
+          ref: ${{ steps.get_fastdds_docs_branch.outputs.deduced_branch }}
+
       - name: Fetch Fast DDS CI dependencies
+        if: ${{ inputs.run-tests == true }}
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
           destination_workspace: src
           skip_existing: 'true'
 
+      - name: Install Fast DDS Docs required python packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          upgrade: false
+          requirements_file_name: src/fastdds-docs/docs/requirements.txt
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta ${{ github.workspace }}/src/fastrtps/.github/workflows/config/documentation.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Colcon test
+        id: docs_test
+        if: ${{ inputs.run-tests == true }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/documentation.meta
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --event-handlers=console_direct+
+          ctest_args: ${{ inputs.ctest-args }}
+          packages_names: fastdds-docs
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+          test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
+
+      - name: Fast DDS Docs test summary
+        uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
+        if: ${{ !cancelled() && inputs.run-tests == true }}
+        with:
+          junit_reports_dir: "${{ steps.docs_test.outputs.ctest_results_path }}"
+          print_summary: 'True'
+          show_failed: 'True'
+          show_disabled: 'False'
+          show_skipped: 'False'
+
+  fastdds_shapesdemo_build:
+    needs: fastdds_build
+    runs-on: ${{ inputs.os-image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: xmlschema
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
       # Get Shapes Demo to make sure it keeps compiling
       - name: Get Shapes Demo branch
         id: get_shapes_demo_branch
@@ -146,32 +575,228 @@ jobs:
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
           colcon_build_args: ${{ inputs.colcon-args }}
-          cmake_args: ${{ inputs.cmake-args }}
-          cmake_args_default: -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wpedantic -Wunused-value -Woverloaded-virtual" -DFASTDDS_EXAMPLE_TESTS=ON
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+  fastdds_discovery_server_test:
+    needs: fastdds_build
+    runs-on: ${{ inputs.os-image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Download build artifacts
+        uses: eProsima/eProsima-CI/external/download-artifact@v0
+        with:
+          name: fastdds_build_${{ inputs.label }}
+          path: ${{ github.workspace }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt packages
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema xmltodict==0.13.0 jsondiff==2.0.0 pandas==1.5.2
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Get Discovery Server branch
+        id: get_discovery_server_branch
+        uses: eProsima/eProsima-CI/ubuntu/get_related_branch_from_repo@v0
+        with:
+          remote_repository: eProsima/Discovery-Server
+          fallback_branch: 'v1.2.1'
+
+      - name: Download Discovery Server repo
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Discovery-Server
+          path: src/discovery_server
+          ref: ${{ steps.get_discovery_server_branch.outputs.deduced_branch }}
+
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_test.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta ${{ github.workspace }}/src/fastrtps/.github/workflows/config/discovery_server.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
           cmake_build_type: ${{ matrix.cmake-build-type }}
           workspace: ${{ github.workspace }}
 
       - name: Colcon test
-        id: test
-        if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
+        id: discovery_server_test
+        if: ${{ inputs.run-tests == true }}
         uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
         with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/discovery_server.meta
           colcon_test_args: ${{ inputs.colcon-args }}
           colcon_test_args_default: --event-handlers=console_direct+
           ctest_args: ${{ inputs.ctest-args }}
-          ctest_args_default: --repeat until-pass:3 --timeout 300 --label-exclude "xfail"
-          packages_names: fastrtps
+          packages_names: discovery-server
           workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
           test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
 
-      - name: Test summary
+      - name: Discovery server test summary
         uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
-        if: ${{ !cancelled() && !contains(github.event.pull_request.labels.*.name, 'no-test') }}
+        if: ${{ !cancelled() && inputs.run-tests == true }}
         with:
-          junit_reports_dir: "${{ steps.test.outputs.ctest_results_path }}"
+          junit_reports_dir: "${{ steps.discovery_server_test.outputs.ctest_results_path }}"
           print_summary: 'True'
           show_failed: 'True'
           show_disabled: 'False'
           show_skipped: 'False'
+
+  fastdds_alternative_builds:
+    runs-on: ${{ inputs.os-image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Sync eProsima/Fast-DDS repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: src/fastrtps
+          ref: ${{ inputs.fastdds-branch }}
+
+      - name: Install Fix Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev
+          update: false
+          upgrade: false
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
+          upgrade: false
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        if: ${{ inputs.use-ccache == true }}
+        with:
+          api_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
+
+      - name: No security colcon build
+        continue-on-error: true
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '-DSECURITY=OFF ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Clean workspace - No security
+        if: ${{ always() }}
+        run: |
+          cd ${{ github.workspace }}
+          rm -rf build install log
+
+      - name: No statistics colcon build
+        continue-on-error: true
+        if: ${{ always() }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '-DFASTDDS_STATISTICS=OFF ${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Clean workspace - No statistics
+        if: ${{ always() }}
+        run: |
+          cd ${{ github.workspace }}
+          rm -rf build install log
+
+      # No .metas file, so FASTDDS_ENFORCE_LOG_INFO is set OFF by default. Missed important args are manually included
+      - name: No enforcing log info colcon build
+        continue-on-error: true
+        if: ${{ always() }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ''
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '-DCOMPILE_EXAMPLES=ON ${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Clean workspace - No enforce log info
+        if: ${{ always() }}
+        run: |
+          cd ${{ github.workspace }}
+          rm -rf build install log
+
+      - name: No shared libs colcon build
+        continue-on-error: true
+        if: ${{ always() }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/fastdds_build.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: '-DBUILD_SHARED_LIBS=OFF ${{ env.security-cmake-flag }} ${{ inputs.cmake-args }}'
+          cmake_args_default: ${{ env.colcon-build-default-cmake-args }}
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index a473dfefe5c..779f81d40dd 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -31,7 +31,6 @@ defaults:
 jobs:
   reusable-windows-ci:
     runs-on: windows-2019
-    if: ${{ !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
     strategy:
       fail-fast: false
       matrix:
@@ -138,18 +137,36 @@ jobs:
       - name: Fetch Fast DDS CI dependencies
         uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
         with:
-          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\ci.repos
+          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_test.repos
           destination_workspace: src
           skip_existing: 'true'
 
+      - name: Prepare build meta file
+        run: |
+            $build_meta_file = '${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_build.meta'
+            $test_meta_file = '${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_test.meta'
+            $build_test_meta_file = '${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_build_test.meta'
+
+            # Read the content of the build meta file
+            $build_meta_content = Get-Content -Path $build_meta_file
+
+            # Read the content of the test meta file, starting from line 4 (skipping "name" line [1], cmake project name line [2] and "cmake-args" line [3])
+            $test_meta_content = Get-Content -Path $test_meta_file | Select-Object -Skip 3
+
+            # Combine the content of the build meta file and the test meta file
+            $combined_content = $build_meta_content + $test_meta_content
+
+            # Write the combined content to the build test meta file
+            $combined_content | Out-File -FilePath $build_test_meta_file -Encoding UTF8
+
       - name: Build
         id: build
         continue-on-error: false
         uses: eProsima/eProsima-CI/windows/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\ci.meta
+          colcon_meta_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_build_test.meta
           colcon_build_args: ${{ inputs.colcon-args }}
-          # The following Fast DDS CMake options need to be specified here instead of in the ci.meta file
+          # The following Fast DDS CMake options need to be specified here instead of in the meta files
           # because they vary from platform to platform
           cmake_args_default: ${{ inputs.cmake-args }} -T ${{ matrix.vs-toolset }} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DTHIRDPARTY_fastcdr=OFF -DTHIRDPARTY_UPDATE=ON -DEPROSIMA_EXTRA_CMAKE_CXX_FLAGS="/MP /WX"
           cmake_build_type: ${{ matrix.cmake-config }}
@@ -160,10 +177,10 @@ jobs:
         id: test
         uses: eProsima/eProsima-CI/windows/colcon_test@v0
         with:
+          colcon_meta_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\fastdds_test.meta
           colcon_test_args: ${{ inputs.colcon-args }}
           colcon_test_args_default: --event-handlers=console_direct+
           ctest_args: ${{ inputs.ctest-args }}
-          ctest_args_default: --repeat until-pass:3 --timeout 300 --label-exclude "xfail"
           packages_names: fastrtps
           workspace: ${{ github.workspace }}
           test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
diff --git a/.github/workflows/sanitizers-ci.yml b/.github/workflows/sanitizers-ci.yml
index 7ef73041e93..0c0773fe870 100644
--- a/.github/workflows/sanitizers-ci.yml
+++ b/.github/workflows/sanitizers-ci.yml
@@ -66,9 +66,9 @@ jobs:
     uses: ./.github/workflows/reusable-sanitizers-ci.yml
     with:
       label: ${{ inputs.label || 'fastdds-sanitizers-ci' }}
-      run_asan_fastdds: ${{ inputs.run_asan_fastdds || github.event_name == 'pull_request' }}
-      run_asan_discovery_server: ${{ inputs.run_asan_discovery_server || github.event_name == 'pull_request' }}
-      run_tsan_fastdds: ${{ inputs.run_tsan_fastdds || github.event_name == 'pull_request' }}
+      run_asan_fastdds: ${{ ((inputs.run_asan_fastdds == true) && true) || github.event_name == 'pull_request' }}
+      run_asan_discovery_server: ${{ ((inputs.run_asan_discovery_server == true) && true) || github.event_name == 'pull_request' }}
+      run_tsan_fastdds: ${{ ((inputs.run_tsan_fastdds == true) && true) || github.event_name == 'pull_request' }}
       colcon_build_args: ${{ inputs.colcon_build_args || '' }}
       colcon_test_args: ${{ inputs.colcon_test_args || '' }}
       cmake_args: ${{ inputs.cmake_args || '' }}
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
index 9923da46e92..8a0391c5f79 100644
--- a/.github/workflows/ubuntu-ci.yml
+++ b/.github/workflows/ubuntu-ci.yml
@@ -23,6 +23,21 @@ on:
         description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
         type: string
         required: true
+      security:
+        description: 'Enable security features'
+        required: false
+        type: boolean
+        default: true
+      run-tests:
+        description: 'Run suite of tests of Fast DDS, Fast DDS python, and Fast DDS Discovery Server'
+        required: false
+        type: boolean
+        default: true
+      use-ccache:
+        description: 'Use CCache to speed up the build'
+        required: false
+        type: boolean
+        default: false
 
   pull_request:
     types:
@@ -39,21 +54,20 @@ concurrency:
 jobs:
   ubuntu-ci:
 
-    strategy:
-      fail-fast: false
-      matrix:
-        os-image:
-          - 'ubuntu-22.04'
-
     if: ${{ (
               !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
               !contains(github.event.pull_request.labels.*.name, 'conflicts')
             ) }}
     uses: ./.github/workflows/reusable-ubuntu-ci.yml
     with:
-      os-image: ${{ matrix.os-image }}
+      # It would be desirable to have a matrix of ubuntu OS for this job, but due to the issue opened in this ticket:
+      # https://github.com/orgs/community/discussions/128118 , it has been set as a single OS job.
+      os-image: 'ubuntu-22.04'
       label: ${{ inputs.label || 'ubuntu-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
+      cmake-args: ${{ inputs.cmake-args }}
       ctest-args: ${{ inputs.ctest-args || '-LE xfail' }}
       fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.10.x' }}
+      security: ${{ ((inputs.security == true) && true) || github.event_name == 'pull_request' }}
+      run-tests: ${{ ((inputs.run-tests == true) && true) || (github.event_name == 'pull_request' && !contains(github.event.pull_request.labels.*.name, 'no-test')) }}
+      use-ccache: ${{ ((inputs.use-ccache == true) && true) || false }}