diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index 2d0ed1f51c23..c91f9d5ea66c 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -16,6 +16,7 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
 topic = alias if alias else spec.short_name
+ros2_distro = ros2_distro.decode("utf-8")
 }@
 /****************************************************************************
  *
@@ -80,7 +81,7 @@ bool @(topic)_Publisher::init()
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0;
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -98,15 +99,26 @@ bool @(topic)_Publisher::init()
     Wparam.topic.topicKind = NO_KEY;
     Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+@[        if ros2_distro == "ardent"]@
+    Wparam.qos.m_partition.push_back("rt");
     Wparam.topic.topicName = "@(topic)_PubSubTopic";
+@[        else]@
+    Wparam.topic.topicName = "rt/@(topic)_PubSubTopic";
+@[        end if]@
+@[    else]@
+    Wparam.topic.topicName = "@(topic)_PubSubTopic";
+@[    end if]@
 @[else]@
-    Wparam.topic.topicName = "@(topic)PubSubTopic";
-@[end if]@
-@[if ros2_distro]@
-@[    if ros2_distro == "ardent"]@
+@[    if ros2_distro]@
+@[        if ros2_distro == "ardent"]@
     Wparam.qos.m_partition.push_back("rt");
+    Wparam.topic.topicName = "@(topic)PubSubTopic";
+@[        else]@
+    Wparam.topic.topicName = "rt/@(topic)PubSubTopic";
+@[        end if]@
 @[    else]@
-    Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
+    Wparam.topic.topicName = "@(topic)PubSubTopic";
 @[    end if]@
 @[end if]@
     mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
index da74a5c0b4fa..343adbcae3b4 100644
--- a/msg/templates/urtps/Publisher.h.em
+++ b/msg/templates/urtps/Publisher.h.em
@@ -16,6 +16,7 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
 topic = alias if alias else spec.short_name
+ros2_distro = ros2_distro.decode("utf-8")
 }@
 /****************************************************************************
  *
diff --git a/msg/templates/urtps/RtpsTopics.cpp.em b/msg/templates/urtps/RtpsTopics.cpp.em
index 2b5e1e97cf44..f9404c4a58f3 100644
--- a/msg/templates/urtps/RtpsTopics.cpp.em
+++ b/msg/templates/urtps/RtpsTopics.cpp.em
@@ -19,6 +19,9 @@ from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
 send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
 recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+package = package[0]
+fastrtpsgen_version = fastrtpsgen_version[0]
+ros2_distro = ros2_distro[0].decode("utf-8")
 }@
 /****************************************************************************
  *
@@ -92,15 +95,15 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
 @[for topic in send_topics]@
         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;
+@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[        if ros2_distro]@
+            @(package)::msg::dds_::@(topic)_ st;
 @[        else]@
             @(topic)_ st;
 @[        end if]@
 @[    else]@
-@[        if ros2_distro[0]]@
-            @(package[0])::msg::@(topic) st;
+@[        if ros2_distro]@
+            @(package)::msg::@(topic) st;
 @[        else]@
             @(topic) st;
 @[        end if]@
@@ -157,15 +160,15 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
         case @(rtps_message_id(ids, topic)): // @(topic)
             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();
+@[    if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[        if ros2_distro]@
+                @(package)::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();
+@[        if ros2_distro]@
+                @(package)::msg::@(topic) msg = _@(topic)_sub.getMsg();
 @[        else]@
                 @(topic) msg = _@(topic)_sub.getMsg();
 @[        end if]@
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index c2457825026d..d38a631fb890 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -16,6 +16,7 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
 topic = alias if alias else spec.short_name
+ros2_distro = ros2_distro.decode("utf-8")
 }@
 /****************************************************************************
  *
@@ -75,7 +76,7 @@ bool @(topic)_Subscriber::init()
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
-@[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[if 1.5 <= fastrtpsgen_version <= 1.7 or ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" or ros2_distro == "dashing"]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@@ -93,15 +94,26 @@ bool @(topic)_Subscriber::init()
     Rparam.topic.topicKind = NO_KEY;
     Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
+@[    if ros2_distro]@
+@[        if ros2_distro == "ardent"]@
+    Rparam.qos.m_partition.push_back("rt");
     Rparam.topic.topicName = "@(topic)_PubSubTopic";
+@[        else]@
+    Rparam.topic.topicName = "rt/@(topic)_PubSubTopic";
+@[        end if]@
+@[    else]@
+    Rparam.topic.topicName = "@(topic)_PubSubTopic";
+@[    end if]@
 @[else]@
-    Rparam.topic.topicName = "@(topic)PubSubTopic";
-@[end if]@
-@[if ros2_distro]@
-@[    if ros2_distro == "ardent"]@
+@[    if ros2_distro]@
+@[        if ros2_distro == "ardent"]@
     Rparam.qos.m_partition.push_back("rt");
+    Rparam.topic.topicName = "@(topic)PubSubTopic";
+@[        else]@
+    Rparam.topic.topicName = "rt/@(topic)PubSubTopic";
+@[        end if]@
 @[    else]@
-    Rparam.topic.topicName = "rt/" + Rparam.topic.topicName;
+    Rparam.topic.topicName = "@(topic)PubSubTopic";
 @[    end if]@
 @[end if]@
     mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
index e3e27b4df2d5..01760c7ea23c 100644
--- a/msg/templates/urtps/Subscriber.h.em
+++ b/msg/templates/urtps/Subscriber.h.em
@@ -16,6 +16,7 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
 topic = alias if alias else spec.short_name
+ros2_distro = ros2_distro.decode("utf-8")
 }@
 /****************************************************************************
  *