diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index f04acbe0ae..5805286d61 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -109,11 +109,17 @@ bool @(topic)_Publisher::init(const std::string &ns)
 	nodeName.append("@(topic)_publisher");
 	PParam.rtps.setName(nodeName.c_str());
 
+@[if ros2_distro]@
 	// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
 	// the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
 	// RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
 	const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
-	if (localhost_only && strcmp(localhost_only, "1") == 0) {
+	const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
+	const char* ros_distro = std::getenv("ROS_DISTRO");
+	if (localhost_only && strcmp(localhost_only, "1") == 0
+	    && ((rmw_implementation && ((strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)
+	    || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)))
+	    || (!rmw_implementation && ros_distro && strcmp(ros_distro, "foxy") == 0))) {
 		// Create a custom network UDPv4 transport descriptor
 		// to whitelist the localhost
 		auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
@@ -125,17 +131,13 @@ bool @(topic)_Publisher::init(const std::string &ns)
 		// Add the descriptor as a custom user transport
 		PParam.rtps.userTransports.push_back(localhostUdpTransport);
 
-@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
-		const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
-		const char* ros_distro = std::getenv("RMW_IMPLEMENTATION");
-		if (((rmw_implementation && (strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)) || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)) ||
-		    (!rmw_implementation && strcmp(ros_distro, "foxy") == 0)) {
-			// Add shared memory transport when available
-			auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
-			PParam.rtps.userTransports.push_back(shmTransport);
-		}
-@[end if]@
+@[    if version.parse(fastrtps_version) >= version.parse('2.0')]@
+		// Add shared memory transport when available
+		auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
+		PParam.rtps.userTransports.push_back(shmTransport);
+@[    end if]@
 	}
+@[end if]@
 
 	mp_participant = Domain::createParticipant(PParam);
 
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index 18374d0b30..aba50ce346 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -115,11 +115,17 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
 	nodeName.append("@(topic)_subscriber");
 	PParam.rtps.setName(nodeName.c_str());
 
+@[if ros2_distro]@
 	// Check if ROS_LOCALHOST_ONLY is set. This means that one wants to use only
 	// the localhost network for data sharing. If FastRTPS/DDS >= 2.0 and
 	// RMW_IMPLEMENTATION is FastDDS then the Shared Memory transport is used
 	const char* localhost_only = std::getenv("ROS_LOCALHOST_ONLY");
-	if (localhost_only && strcmp(localhost_only, "1") == 0) {
+	const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
+	const char* ros_distro = std::getenv("ROS_DISTRO");
+	if (localhost_only && strcmp(localhost_only, "1") == 0
+	    && ((rmw_implementation && ((strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)
+	    || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)))
+	    || (!rmw_implementation && ros_distro && strcmp(ros_distro, "foxy") == 0))) {
 		// Create a custom network UDPv4 transport descriptor
 		// to whitelist the localhost
 		auto localhostUdpTransport = std::make_shared<UDPv4TransportDescriptor>();
@@ -131,17 +137,13 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable *t_send
 		// Add the descriptor as a custom user transport
 		PParam.rtps.userTransports.push_back(localhostUdpTransport);
 
-@[if version.parse(fastrtps_version) >= version.parse('2.0')]@
-		const char* rmw_implementation = std::getenv("RMW_IMPLEMENTATION");
-		const char* ros_distro = std::getenv("RMW_IMPLEMENTATION");
-		if (((rmw_implementation && (strcmp(rmw_implementation, "rmw_fastrtps_cpp") == 0)) || (strcmp(rmw_implementation, "rmw_fastrtps_dynamic_cpp") == 0)) ||
-		    (!rmw_implementation && strcmp(ros_distro, "foxy") == 0)) {
-			// Add shared memory transport when available
-			auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
-			PParam.rtps.userTransports.push_back(shmTransport);
-		}
-@[end if]@
+@[    if version.parse(fastrtps_version) >= version.parse('2.0')]@
+		// Add shared memory transport when available
+		auto shmTransport = std::make_shared<SharedMemTransportDescriptor>();
+		PParam.rtps.userTransports.push_back(shmTransport);
+@[    end if]@
 	}
+@[end if]@
 
 	mp_participant = Domain::createParticipant(PParam);