diff --git a/.github/actions/install-apt-packages-documentation/action.yml b/.github/actions/install-apt-packages-documentation/action.yml
deleted file mode 100644
index 689a081a7f..0000000000
--- a/.github/actions/install-apt-packages-documentation/action.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-name: 'install-apt-packages-documentation'
-description: 'Install necessary apt packages for building documentation'
-runs:
-  using: "composite"
-  steps:
-    - id: install-apt-packages-documentation
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install \
-          doxygen \
-          imagemagick \
-          plantuml
-      shell: bash
diff --git a/.github/workflows/config/documentation.meta b/.github/workflows/config/documentation.meta
new file mode 100644
index 0000000000..c0d85a3d55
--- /dev/null
+++ b/.github/workflows/config/documentation.meta
@@ -0,0 +1,17 @@
+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"
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/documentation-tests.yaml b/.github/workflows/documentation-tests.yaml
index 296d9b27de..8194fd039a 100644
--- a/.github/workflows/documentation-tests.yaml
+++ b/.github/workflows/documentation-tests.yaml
@@ -40,24 +40,47 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Sync eProsima/Fast-DDS repository
-        uses: actions/checkout@v3
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
           submodules: true
 
-      - name: Install Fast DDS packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages
-
-      - name: Install documentation packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages-documentation
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.20.6'
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
-      - name: Download FastDDS dependencies
-        run: |
-          pip3 install vcstool
-          vcs import --skip-existing src < ./src/fastrtps/fastrtps.repos
+      - 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 GTest
+        uses: eProsima/eProsima-CI/multiplatform/install_gtest@v0
+        with:
+          cmake_build_type: Release
+          version: release-1.11.0
+
+      - 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: Determine the Fast DDS Documentation branch to be used
         run: |
@@ -110,25 +133,51 @@ jobs:
           fi
 
       - name: Download FastDDS documentation repo
-        uses: actions/checkout@v4
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           repository: eProsima/Fast-DDS-docs
           path: src/fastdds-docs
           ref: ${{ env.ACTION_BRANCH_NAME }}
 
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Install required python packages
+      - 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: Build documentation
-        run: |
-          colcon build --event-handlers=console_direct+ --metas
-
-      - name: Run documentation tests
-        run: |
-          colcon test --event-handlers=console_direct+ --packages-select fastdds-docs --return-code-on-test-failure
+      - 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/include/fastrtps/xmlparser/XMLEndpointParser.h b/include/fastrtps/xmlparser/XMLEndpointParser.h
index d540b857a8..7220720943 100644
--- a/include/fastrtps/xmlparser/XMLEndpointParser.h
+++ b/include/fastrtps/xmlparser/XMLEndpointParser.h
@@ -26,8 +26,6 @@
 #include <string>
 #include <vector>
 
-#include <tinyxml2.h>
-
 #include <fastdds/rtps/builtin/data/ReaderProxyData.h>
 #include <fastdds/rtps/builtin/data/WriterProxyData.h>
 #include <fastrtps/xmlparser/XMLParserCommon.h>