diff --git a/.github/workflows/config/fastdds_build.meta b/.github/workflows/config/fastdds_build.meta
index 445b65d27b1..dfcf45c6f33 100644
--- a/.github/workflows/config/fastdds_build.meta
+++ b/.github/workflows/config/fastdds_build.meta
@@ -3,7 +3,7 @@ names:
         cmake-args:
             - "-DBUILD_DOCUMENTATION=OFF"
             - "-DCOMPILE_EXAMPLES=ON"
-            - "-DFASTDDS_ENFORCE_LOG_INFO=ON"
+            - "-DFASTDDS_ENFORCE_LOG_INFO=OFF"
             - "-DINSTALL_EXAMPLES=ON"
             - "-DINTERNAL_DEBUG=ON"
             - "-DNO_TLS=OFF"
diff --git a/.github/workflows/config/fastdds_test.meta b/.github/workflows/config/fastdds_test.meta
index 07b12fc1788..e2d83360da8 100644
--- a/.github/workflows/config/fastdds_test.meta
+++ b/.github/workflows/config/fastdds_test.meta
@@ -1,12 +1,12 @@
 names:
     fastdds:
         cmake-args:
-            - "-DEPROSIMA_BUILD_TESTS=ON"
-            - "-DFASTDDS_PIM_API_TESTS=ON"
-            - "-DPERFORMANCE_TESTS=ON"
+            - "-DEPROSIMA_BUILD_TESTS=OFF"
+            - "-DFASTDDS_PIM_API_TESTS=OFF"
+            - "-DPERFORMANCE_TESTS=OFF"
             - "-DPROFILING_TESTS=OFF"
             - "-DCOMPILE_TOOLS=ON"
-            - "-DSYSTEM_TESTS=ON"
+            - "-DSYSTEM_TESTS=OFF"
         ctest-args: [
                 "--repeat", "until-pass:3",
                 "--timeout", "300",
diff --git a/.github/workflows/mac-ci.yml b/.github/workflows/mac-ci.yml
deleted file mode 100644
index 21cf3f2652f..00000000000
--- a/.github/workflows/mac-ci.yml
+++ /dev/null
@@ -1,57 +0,0 @@
-name: Fast DDS MacOS CI
-
-on:
-  workflow_dispatch:
-    inputs:
-      label:
-        description: 'ID associated to the workflow'
-        required: true
-        type: string
-      colcon-args:
-        description: 'Extra arguments for colcon cli'
-        required: false
-        type: string
-      cmake-args:
-        description: 'Extra arguments for cmake cli'
-        required: false
-        type: string
-      ctest-args:
-        description: 'Extra arguments for ctest cli'
-        required: false
-        type: string
-      fastdds_branch:
-        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
-        type: string
-        required: true
-      use-ccache:
-        description: 'Use CCache to speed up the build'
-        required: false
-        type: boolean
-        default: false
-
-  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:
-  mac-ci:
-    if: ${{ (
-              !contains(github.event.pull_request.labels.*.name, 'skip-ci') &&
-              !contains(github.event.pull_request.labels.*.name, 'conflicts')
-            ) }}
-    uses: ./.github/workflows/reusable-mac-ci.yml
-    with:
-      label: ${{ inputs.label || 'mac-ci' }}
-      colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
-      ctest-args: ${{ inputs.ctest-args }}
-      fastdds-branch: ${{ inputs.fastdds_branch || github.ref || 'master' }}
-      use-ccache: ${{ ((inputs.use-ccache == true) && true) || false }}
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index 934049673f0..5af2cc2b2b3 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -30,7 +30,7 @@ defaults:
 
 jobs:
   reusable-windows-ci:
-    runs-on: windows-2019
+    runs-on: windows-2022
     strategy:
       fail-fast: false
       matrix:
@@ -141,7 +141,7 @@ jobs:
           colcon_build_args: ${{ inputs.colcon-args }}
           # 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_args_default: ${{ inputs.cmake-args }} -T ${{ matrix.vs-toolset }} -DTHIRDPARTY_Asio=FORCE -DTHIRDPARTY_TinyXML2=FORCE -DTHIRDPARTY_fastcdr=OFF -DTHIRDPARTY_UPDATE=ON -DFASTDDS_EXAMPLE_TESTS=ON -DEPROSIMA_EXTRA_CMAKE_CXX_FLAGS="/MP /WX"
           cmake_build_type: ${{ matrix.cmake-config }}
           workspace: ${{ github.workspace }}
 
diff --git a/.github/workflows/sanitizers-ci.yml b/.github/workflows/sanitizers-ci.yml
deleted file mode 100644
index e4ec25ec298..00000000000
--- a/.github/workflows/sanitizers-ci.yml
+++ /dev/null
@@ -1,77 +0,0 @@
-name: Fast DDS Sanitizers CI
-
-on:
-  workflow_dispatch:
-    inputs:
-      label:
-        description: 'ID associated to the workflow'
-        required: true
-        type: string
-      run_asan_fastdds:
-        description: 'Run Addess Sanitizer job for Fast DDS'
-        required: false
-        type: boolean
-      run_asan_discovery_server:
-        description: 'Run Addess Sanitizer job for Discovery Server'
-        required: false
-        type: boolean
-      run_tsan_fastdds:
-        description: 'Run Thread Sanitizer job for Fast DDS'
-        required: false
-        type: boolean
-      colcon_build_args:
-        description: 'Optional colcon build arguments'
-        required: false
-        type: string
-      colcon_test_args:
-        description: 'Optional colcon test arguments'
-        required: false
-        type: string
-      cmake_args:
-        description: 'Optional CMake Compilation Flags'
-        required: false
-        type: string
-      ctest_args:
-        description: 'Optional CTest Testing Flags'
-        required: false
-        type: string
-      fastdds_ref:
-        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
-        required: true
-      discovery_server_ref:
-        description: >
-          Branch or tag of Discovery Server repository (https://github.com/eProsima/Discovery-Server)
-          Required only if the Discovery Server job is requested
-        required: false
-
-  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:
-  sanitizers-ci:
-    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')
-            ) }}
-    uses: ./.github/workflows/reusable-sanitizers-ci.yml
-    with:
-      label: ${{ inputs.label || 'fastdds-sanitizers-ci' }}
-      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 || '' }}
-      ctest_args: ${{ inputs.ctest_args || '' }}
-      fastdds_ref: ${{ inputs.fastdds_ref || github.ref || 'master' }}
-      discovery_server_ref: ${{ inputs.discovery_server_ref || 'master' }}
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
deleted file mode 100644
index 58753443e15..00000000000
--- a/.github/workflows/ubuntu-ci.yml
+++ /dev/null
@@ -1,72 +0,0 @@
-name: Fast DDS Ubuntu CI
-
-on:
-  workflow_dispatch:
-    inputs:
-      label:
-        description: 'ID associated to the workflow'
-        required: true
-        type: string
-      colcon-args:
-        description: 'Extra arguments for colcon cli'
-        required: false
-        type: string
-      cmake-args:
-        description: 'Extra arguments for cmake cli'
-        required: false
-        type: string
-      ctest-args:
-        description: 'Extra arguments for ctest cli'
-        required: false
-        type: string
-      fastdds_branch:
-        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:
-      - 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-ci:
-
-    if: ${{ !(github.event_name == 'pull_request') || !contains(github.event.pull_request.labels.*.name, 'conflicts') }}
-    uses: ./.github/workflows/reusable-ubuntu-ci.yml
-    with:
-      # 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: ${{ inputs.cmake-args }}
-      ctest-args: ${{ inputs.ctest-args || '-LE xfail' }}
-      fastdds-branch: ${{ inputs.fastdds_branch || github.ref || 'master' }}
-      security: ${{ ((inputs.security == true) && true) || github.event_name == 'pull_request' }}
-      run-build: ${{ !(github.event_name == 'pull_request') || !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
-      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 }}
-      add-label: ${{ (github.event_name == 'pull_request') && (github.event.pull_request.head.repo.full_name == github.repository) && true || false }}
diff --git a/examples/cpp/hello_world/CLIParser.hpp b/examples/cpp/hello_world/CLIParser.hpp
index edd0863e321..df39ed8e229 100644
--- a/examples/cpp/hello_world/CLIParser.hpp
+++ b/examples/cpp/hello_world/CLIParser.hpp
@@ -46,6 +46,7 @@ class CLIParser
     struct publisher_config
     {
         uint16_t samples = 0;
+        uint16_t matched = 1;
     };
 
     //! Subscriber application configuration structure
@@ -83,6 +84,9 @@ class CLIParser
         std::cout << "  -s <num>, --samples <num>       Number of samples to send or receive"   << std::endl;
         std::cout << "                                  [0 <= <num> <= 65535]"                  << std::endl;
         std::cout << "                                  (Default: 0 [unlimited])"               << std::endl;
+        std::cout << "Publisher options:"                                                       << std::endl;
+        std::cout << "  -m, --matched                   Number of participants to discover"     << std::endl;
+        std::cout << "                                  before start publishing (Default: 1)"   << std::endl;
         std::cout << "Subscriber options:"                                                      << std::endl;
         std::cout << "  -w, --waitset                   Use waitset & read condition"           << std::endl;
         std::exit(return_code);
@@ -194,6 +198,40 @@ class CLIParser
                     print_help(EXIT_FAILURE);
                 }
             }
+            else if (arg == "-m" || arg == "--matched")
+            {
+                try
+                {
+                    int input = std::stoi(argv[++i]);
+                    if (input < std::numeric_limits<std::uint16_t>::min() ||
+                            input > std::numeric_limits<std::uint16_t>::max())
+                    {
+                        throw std::out_of_range("matched argument out of range");
+                    }
+                    else
+                    {
+                        if (config.entity == CLIParser::EntityKind::PUBLISHER)
+                        {
+                            config.pub_config.matched = static_cast<uint16_t>(input);
+                        }
+                        else
+                        {
+                            EPROSIMA_LOG_ERROR(CLI_PARSER, "matched can only be used with the publisher entity");
+                            print_help(EXIT_FAILURE);
+                        }
+                    }
+                }
+                catch (const std::invalid_argument& e)
+                {
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "invalid sample argument for " + arg + ": " + e.what());
+                    print_help(EXIT_FAILURE);
+                }
+                catch (const std::out_of_range& e)
+                {
+                    EPROSIMA_LOG_ERROR(CLI_PARSER, "sample argument out of range for " + arg + ": " + e.what());
+                    print_help(EXIT_FAILURE);
+                }
+            }
             else
             {
                 EPROSIMA_LOG_ERROR(CLI_PARSER, "unknown option " + arg);
diff --git a/examples/cpp/hello_world/PublisherApp.cpp b/examples/cpp/hello_world/PublisherApp.cpp
index 63b4331137e..101c01173d8 100644
--- a/examples/cpp/hello_world/PublisherApp.cpp
+++ b/examples/cpp/hello_world/PublisherApp.cpp
@@ -47,6 +47,7 @@ PublisherApp::PublisherApp(
     , type_(new HelloWorldPubSubType())
     , matched_(0)
     , samples_(config.samples)
+    , expected_matches_(config.matched)
     , stop_(false)
 {
     // Set up the data type with initial values
@@ -152,7 +153,7 @@ bool PublisherApp::publish()
     cv_.wait(matched_lock, [&]()
             {
                 // at least one has been discovered
-                return ((matched_ > 0) || is_stopped());
+                return ((matched_ >= expected_matches_) || is_stopped());
             });
 
     if (!is_stopped())
diff --git a/examples/cpp/hello_world/PublisherApp.hpp b/examples/cpp/hello_world/PublisherApp.hpp
index ed62f856780..a3d61e461b0 100644
--- a/examples/cpp/hello_world/PublisherApp.hpp
+++ b/examples/cpp/hello_world/PublisherApp.hpp
@@ -82,6 +82,8 @@ class PublisherApp : public Application, public DataWriterListener
 
     uint16_t samples_;
 
+    uint16_t expected_matches_;
+
     std::mutex mutex_;
 
     std::condition_variable cv_;
diff --git a/test/examples/CMakeLists.txt b/test/examples/CMakeLists.txt
index 7dd4dfeedee..a94d07fa46f 100644
--- a/test/examples/CMakeLists.txt
+++ b/test/examples/CMakeLists.txt
@@ -28,6 +28,21 @@ set(SHELL_EXECUTABLE "")
 set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "")
 set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH "")
 
+# Configure TinyXML2 library path if installed in user library path
+if(NOT (TINYXML2_FROM_SOURCE OR TINYXML2_FROM_THIRDPARTY))
+    message(STATUS "TINYXML2_LIBRARY " ${TINYXML2_LIBRARY})
+    file(GLOB TINYXML2_LIBRARY_DIRS LIST_DIRECTORIES false ${TINYXML2_LIBRARY})
+    if (TINYXML2_LIBRARY_DIRS)
+        list (GET TINYXML2_LIBRARY_DIRS 0 TINYXML2_LIBRARY_HEAD_DIR)
+        get_filename_component(TINYXML2_LIB_DIR ${TINYXML2_LIBRARY_HEAD_DIR} DIRECTORY)
+        message(STATUS "TINYXML2_LIB_DIR " ${TINYXML2_LIB_DIR})
+        set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "- ${TINYXML2_LIB_DIR}:${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds:ro")
+        set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH "${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds")
+    else()
+        message(FATAL_ERROR "Could not find a valid TinyXML 2 lirbary path.")
+    endif()
+endif()
+
 # Linux configurations
 if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
     # Find bash
@@ -39,6 +54,21 @@ if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
     set(SHELL_EXECUTABLE ${BASH_EXECUTABLE})
     set(DOCKER_IMAGE_NAME "ubuntu:22.04")
 
+    set(PROJECT_BINATY_DIR_COMPOSE_VOLUME "${PROJECT_BINARY_DIR}:${PROJECT_BINARY_DIR}")
+    set(fastcdr_LIB_DIR_COMPOSE_VOLUME "${fastcdr_LIB_DIR}:${fastcdr_LIB_DIR}")
+    set(CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME "${CMAKE_INSTALL_PREFIX}:${CMAKE_INSTALL_PREFIX}")
+
+    set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "LD_LIBRARY_PATH: ${PROJECT_BINARY_DIR}/src/cpp:${fastcdr_LIB_DIR}")
+    if (TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH)
+        set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "${PATH_ENVIRONMENT_VARIABLE_COMPOSE}:${TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH}")
+    endif()
+    set(EXAMPLE_PREFIX_DIR_COMPOSE "${PROJECT_BINARY_DIR}/examples/cpp")
+    set(EXAMPLE_SUFFIX_DIR_COMPOSE "")
+    set(FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE "${PROJECT_BINARY_DIR}/examples/cpp/")
+    set(COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE "$\${EXAMPLE_DIR}")
+    set(COMMAND_CONCATENATE_COMPOSE "&")
+    set(COMMAND_BACKGROUND_JOB_COMPOSE "")
+
 # Windows configurations
 elseif(WIN32)
     # Find pwsh
@@ -47,26 +77,54 @@ elseif(WIN32)
         message(FATAL_ERROR "pwsh not found")
     endif()
 
-    set(PWSH_EXECUTABLE ${BASH_EXECUTABLE})
+    set(PWSH_VERSION_DOCKER "latest")
+    set(SHELL_EXECUTABLE "C:/\"Program Files\"/PowerShell/${PWSH_VERSION_DOCKER}/pwsh.exe")
+
     set(FILE_EXTENSION ".exe")
+    set(DOCKER_IMAGE_NAME "windows-testing")
 
-    # We don't know which docker image to use for Windows yet
-    message(FATAL_ERROR "Windows not supported yet")
+    cmake_path(GET fastcdr_LIB_DIR PARENT_PATH fastcdr_INSTALL_DIR)
 
+    # Ensure drives in docker are mounted in C: drive
+    string(REGEX REPLACE ".:" "C:" CMAKE_INSTALL_PREFIX_C ${CMAKE_INSTALL_PREFIX})
+    string(REGEX REPLACE ".:" "C:" PROJECT_BINARY_DIR_C ${PROJECT_BINARY_DIR})
+    string(REGEX REPLACE ".:" "C:" fastcdr_INSTALL_DIR_C ${fastcdr_INSTALL_DIR})
+
+    set(PROJECT_BINATY_DIR_COMPOSE_VOLUME "${PROJECT_BINARY_DIR}:${PROJECT_BINARY_DIR_C}")
+    set(fastcdr_LIB_DIR_COMPOSE_VOLUME "${fastcdr_INSTALL_DIR}/bin:${fastcdr_INSTALL_DIR_C}/bin")
+    set(CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME "${CMAKE_INSTALL_PREFIX}/bin:${CMAKE_INSTALL_PREFIX_C}/bin")
+
+    set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "PATH: C:/Program Files/OpenSSL-Win64;${CMAKE_INSTALL_PREFIX_C}/bin;${fastcdr_INSTALL_DIR_C}/bin;C:/Windows/System32;C:/Windows/System32/downlevel;")
+    set(EXAMPLE_PREFIX_DIR_COMPOSE "${PROJECT_BINARY_DIR_C}/examples/cpp")
+    if (CMAKE_BUILD_TYPE)
+        set(EXAMPLE_SUFFIX_DIR_COMPOSE "${CMAKE_BUILD_TYPE}")
+    else()
+        set(EXAMPLE_SUFFIX_DIR_COMPOSE "Release")
+    endif()
+    set(FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE "${PROJECT_BINARY_DIR_C}/examples/cpp")
+    set(COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE "& $\$Env:EXAMPLE_DIR")
+    set(COMMAND_CONCATENATE_COMPOSE "&\" \"")
+    set(COMMAND_BACKGROUND_JOB_COMPOSE "; Receive-Job 1 -Wait")
+
+    set(WIN_DOCKERFILE ${CMAKE_CURRENT_LIST_DIR}/windows/Dockerfile)
+    # Generate image for testing
+    add_custom_target(
+        windows_docker_image_testing_generation
+        ALL
+        # Launch the docker build command using the build context.
+        COMMAND ${DOCKER_EXECUTABLE} build
+            --tag ${DOCKER_IMAGE_NAME}
+            --file ${WIN_DOCKERFILE}
+            ${CMAKE_CURRENT_LIST_DIR}
+        COMMENT "Creating windows image for testing..." VERBATIM
+        WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR})
 # Unsupported platform
 else()
     message(FATAL_ERROR "Unsupported platform")
 endif()
 
-# Configure TinyXML2 library path if installed in user library path
-if(NOT (TINYXML2_FROM_SOURCE OR TINYXML2_FROM_THIRDPARTY))
-    get_filename_component(TINYXML2_LIB_DIR ${TINYXML2_LIBRARY} DIRECTORY)
-    set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "- ${TINYXML2_LIB_DIR}:${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds:ro")
-    set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH ":${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds")
-endif()
-
 # Find all pytest files for testing
-file(GLOB examples_python_tests RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/*.py)
+file(GLOB examples_python_tests RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/*world.py)
 
 # Add security test only if security is enabled
 if (NOT SECURITY)
diff --git a/test/examples/hello_world.compose.yml b/test/examples/hello_world.compose.yml
index affe3533b8a..be66e11d6b8 100644
--- a/test/examples/hello_world.compose.yml
+++ b/test/examples/hello_world.compose.yml
@@ -11,33 +11,32 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-version: "3"
 
 services:
   waitset-subscriber:
     image: @DOCKER_IMAGE_NAME@
     volumes:
-      - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
-      - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      - @PROJECT_BINATY_DIR_COMPOSE_VOLUME@
+      - @fastcdr_LIB_DIR_COMPOSE_VOLUME@
+      - @CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME@
       @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
-      # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
-      EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/hello_world@FILE_EXTENSION@
-      FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR@/examples/cpp/hello_world/hello_world_profile.xml
-    command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ subscriber --waitset --samples 10"
+      @PATH_ENVIRONMENT_VARIABLE_COMPOSE@
+      EXAMPLE_DIR: @EXAMPLE_PREFIX_DIR_COMPOSE@/hello_world/@EXAMPLE_SUFFIX_DIR_COMPOSE@
+      FASTDDS_DEFAULT_PROFILES_FILE: @FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE@/hello_world/hello_world_profile.xml
+    command: @SHELL_EXECUTABLE@ -c "@COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ subscriber --waitset --samples 10"
 
   subscriber-publisher:
     image: @DOCKER_IMAGE_NAME@
     volumes:
-      - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR@
-      - @fastcdr_LIB_DIR@:@fastcdr_LIB_DIR@
+      - @PROJECT_BINATY_DIR_COMPOSE_VOLUME@
+      - @fastcdr_LIB_DIR_COMPOSE_VOLUME@
+      - @CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME@
       @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
-      # TODO(eduponz): LD_LIBRARY_PATH is not the correct variable for Windows
-      LD_LIBRARY_PATH: @PROJECT_BINARY_DIR@/src/cpp:@fastcdr_LIB_DIR@@TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH@
-      EXAMPLE_DIR: @PROJECT_BINARY_DIR@/examples/cpp/hello_world
-      FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR@/examples/cpp/hello_world/hello_world_profile.xml
-    command: @SHELL_EXECUTABLE@ -c "$${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ subscriber --samples 10 & $${EXAMPLE_DIR}/hello_world@FILE_EXTENSION@ publisher --samples 10"
+      @PATH_ENVIRONMENT_VARIABLE_COMPOSE@
+      EXAMPLE_DIR: @EXAMPLE_PREFIX_DIR_COMPOSE@/hello_world/@EXAMPLE_SUFFIX_DIR_COMPOSE@
+      FASTDDS_DEFAULT_PROFILES_FILE: @FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE@/hello_world/hello_world_profile.xml
+    command: @SHELL_EXECUTABLE@ -c "@COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ publisher --samples 10 --matched 2 @COMMAND_CONCATENATE_COMPOSE@ @COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ subscriber --samples 10@COMMAND_BACKGROUND_JOB_COMPOSE@"
     depends_on:
       - waitset-subscriber
diff --git a/test/examples/test_hello_world.py b/test/examples/test_hello_world.py
index 56503c5d988..f643f51a417 100644
--- a/test/examples/test_hello_world.py
+++ b/test/examples/test_hello_world.py
@@ -20,7 +20,7 @@ def test_hello_world():
     out = ''
     try:
         out = subprocess.check_output(
-            '@DOCKER_EXECUTABLE@ compose -f hello_world.compose.yml up',
+            '"@DOCKER_EXECUTABLE@" compose -f hello_world.compose.yml up',
             stderr=subprocess.STDOUT,
             shell=True,
             timeout=20
@@ -34,7 +34,7 @@ def test_hello_world():
 
             if 'RECEIVED' in line:
                 received += 1
-                
+
         if sent != 0 and received != 0 and sent * 2 == received:
             ret = True
         else:
@@ -42,9 +42,8 @@ def test_hello_world():
                   ' (expected: ' + str(sent * 2) + ')')
             raise subprocess.CalledProcessError(1, '')
 
-    except subprocess.CalledProcessError:
-        for l in out:
-            print(l)
+    except subprocess.CalledProcessError as e:
+          print ('ERROR %s', e.output)
     except subprocess.TimeoutExpired:
         print('TIMEOUT')
         print(out)
diff --git a/test/examples/windows/Dockerfile b/test/examples/windows/Dockerfile
new file mode 100644
index 00000000000..6d4fcd72d94
--- /dev/null
+++ b/test/examples/windows/Dockerfile
@@ -0,0 +1,12 @@
+FROM mcr.microsoft.com/powershell:windowsservercore-ltsc2022
+
+SHELL ["pwsh", "-Command", "$ErrorActionPreference = 'Stop'; $ProgressPreference = 'SilentlyContinue';"]
+
+# Install Chocolately
+RUN Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://community.chocolatey.org/install.ps1'))
+
+# Install VC++ Redistributable 2022
+RUN choco install -y vcredist140
+
+# Install OpenSSL latest
+RUN choco install -y openssl