diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index df87d9cbb9..2d0ed1f51c 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -102,8 +102,12 @@ bool @(topic)_Publisher::init()
 @[else]@
     Wparam.topic.topicName = "@(topic)PubSubTopic";
 @[end if]@
-@[if ros2_distro and ros2_distro != "ardent"]@
+@[if ros2_distro]@
+@[    if ros2_distro == "ardent"]@
+    Wparam.qos.m_partition.push_back("rt");
+@[    else]@
     Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
+@[    end if]@
 @[end if]@
     mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
     if(mp_publisher == nullptr)
@@ -139,9 +143,17 @@ void @(topic)_Publisher::run()
 
     // Publication code
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+    @(package)::msg::dds_::@(topic)_ st;
+@[    else]@
     @(topic)_ st;
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+    @(package)::msg::@(topic) st;
+@[    else]@
     @(topic) st;
+@[    end if]@
 @[end if]@
 
     /* Initialize your structure here */
@@ -168,9 +180,17 @@ void @(topic)_Publisher::run()
 }
 
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
-void @(topic)_Publisher::publish(@(topic)_* st)
+@[    if ros2_distro]@
+    void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st)
+@[    else]@
+    void @(topic)_Publisher::publish(@(topic)_* st)
+@[    end if]@
 @[else]@
-void @(topic)_Publisher::publish(@(topic)* st)
+@[    if ros2_distro]@
+    void @(topic)_Publisher::publish(@(package)::msg::@(topic)* st)
+@[    else]@
+    void @(topic)_Publisher::publish(@(topic)* st)
+@[    end if]@
 @[end if]@
 {
     mp_publisher->write(st);
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
index e32a86aa33..da74a5c0b4 100644
--- a/msg/templates/urtps/Publisher.h.em
+++ b/msg/templates/urtps/Publisher.h.em
@@ -81,9 +81,17 @@ public:
     bool init();
     void run();
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+    void publish(@(package)::msg::dds_::@(topic)_* st);
+@[    else]@
     void publish(@(topic)_* st);
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+    void publish(@(package)::msg::@(topic)* st);
+@[    else]@
     void publish(@(topic)* st);
+@[    end if]@
 @[end if]@
 private:
     Participant *mp_participant;
@@ -98,9 +106,17 @@ private:
         int n_matched;
     } m_listener;
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+    @(package)::msg::dds_::@(topic)_PubSubType myType;
+@[    else]@
     @(topic)_PubSubType myType;
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+    @(package)::msg::@(topic)PubSubType myType;
+@[    else]@
     @(topic)PubSubType myType;
+@[    end if]@
 @[end if]@
 };
 
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
index 18f0f94bd4..2b5e1e97cf 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -93,9 +93,17 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
         case @(rtps_message_id(ids, topic)): // @(topic)
         {
 @[    if 1.5 <= fastrtpsgen_version[0] <= 1.7]@
+@[        if ros2_distro[0]]@
+            @(package[0])::msg::dds_::@(topic)_ st;
+@[        else]@
             @(topic)_ st;
+@[        end if]@
 @[    else]@
+@[        if ros2_distro[0]]@
+            @(package[0])::msg::@(topic) st;
+@[        else]@
             @(topic) st;
+@[        end if]@
 @[    end if]@
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
             eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
@@ -150,9 +158,17 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
             if (_@(topic)_sub.hasMsg())
             {
 @[    if 1.5 <= fastrtpsgen_version[0] <= 1.7]@
+@[        if ros2_distro[0]]@
+                @(package[0])::msg::dds_::@(topic)_ msg = _@(topic)_sub.getMsg();
+@[        else]@
                 @(topic)_ msg = _@(topic)_sub.getMsg();
+@[        end if]@
 @[    else]@
+@[        if ros2_distro[0]]@
+                @(package[0])::msg::@(topic) msg = _@(topic)_sub.getMsg();
+@[        else]@
                 @(topic) msg = _@(topic)_sub.getMsg();
+@[        end if]@
 @[    end if]@
                 msg.serialize(scdr);
                 ret = true;
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index a30ffe7df3..c245782502 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -97,8 +97,12 @@ bool @(topic)_Subscriber::init()
 @[else]@
     Rparam.topic.topicName = "@(topic)PubSubTopic";
 @[end if]@
-@[if ros2_distro and ros2_distro != "ardent"]@
-    Rparam.topic.topicName = "rt/" + Wparam.topic.topicName;
+@[if ros2_distro]@
+@[    if ros2_distro == "ardent"]@
+    Rparam.qos.m_partition.push_back("rt");
+@[    else]@
+    Rparam.topic.topicName = "rt/" + Rparam.topic.topicName;
+@[    end if]@
 @[end if]@
     mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
     if(mp_subscriber == nullptr)
@@ -126,9 +130,17 @@ void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
 {
         // Take data
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+        @(package)::msg::dds_::@(topic)_ st;
+@[    else]@
         @(topic)_ st;
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+        @(package)::msg::@(topic) st;
+@[    else]@
         @(topic) st;
+@[    end if]@
 @[end if]@
 
         if(sub->takeNextData(&st, &m_info))
@@ -157,9 +169,17 @@ bool @(topic)_Subscriber::hasMsg()
 }
 
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+@(package)::msg::dds_::@(topic)_ @(topic)_Subscriber::getMsg()
+@[    else]@
 @(topic)_ @(topic)_Subscriber::getMsg()
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+@(package)::msg::@(topic) @(topic)_Subscriber::getMsg()
+@[    else]@
 @(topic) @(topic)_Subscriber::getMsg()
+@[    end if]@
 @[end if]@
 {
     m_listener.has_msg = false;
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
index a9a9de8248..e3e27b4df2 100644
--- a/msg/templates/urtps/Subscriber.h.em
+++ b/msg/templates/urtps/Subscriber.h.em
@@ -82,9 +82,17 @@ public:
     void run();
     bool hasMsg();
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+    @(package)::msg::dds_::@(topic)_ getMsg();
+@[    else]@
     @(topic)_ getMsg();
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+    @(package)::msg::@(topic) getMsg();
+@[    else]@
     @(topic) getMsg();
+@[    end if]@
 @[end if]@
 private:
     Participant *mp_participant;
@@ -101,17 +109,33 @@ private:
         int n_matched;
         int n_msg;
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+        @(package)::msg::dds_::@(topic)_ msg;
+@[    else]@
         @(topic)_ msg;
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+        @(package)::msg::@(topic) msg;
+@[    else]@
         @(topic) msg;
+@[    end if]@
 @[end if]@
         bool has_msg = false;
 
     } m_listener;
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+    @(package)::msg::dds_::@(topic)_PubSubType myType;
+@[    else]@
     @(topic)_PubSubType myType;
+@[    end if]@
 @[else]@
+@[    if ros2_distro]@
+    @(package)::msg::@(topic)PubSubType myType;
+@[    else]@
     @(topic)PubSubType myType;
+@[    end if]@
 @[end if]@
 };