diff --git a/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.cxx b/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.cxx
index ba7fa79..d66c141 100644
--- a/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.cxx
+++ b/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.cxx
@@ -31,49 +31,42 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 HelloWorldPubSubType::HelloWorldPubSubType()
 {
-    setName("HelloWorld");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(HelloWorld::getMaxCdrSerializedSize());
-#else
-        HelloWorld_max_cdr_typesize;
-#endif
+    set_name("HelloWorld");
+    uint32_t type_size = HelloWorld_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = HelloWorld_max_key_cdr_typesize > 16 ? HelloWorld_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = HelloWorld_max_key_cdr_typesize > 16 ? HelloWorld_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 HelloWorldPubSubType::~HelloWorldPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
 bool HelloWorldPubSubType::serialize(
         const void* const data,
-        SerializedPayload_t* payload,
+        SerializedPayload_t& payload,
         DataRepresentationId_t data_representation)
 {
     const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
-    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
+    payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -88,16 +81,12 @@ bool HelloWorldPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
-    payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
+    payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
     return true;
 }
 
 bool HelloWorldPubSubType::deserialize(
-        SerializedPayload_t* payload,
+        SerializedPayload_t& payload,
         void* data)
 {
     try
@@ -106,18 +95,14 @@ bool HelloWorldPubSubType::deserialize(
         HelloWorld* p_type = static_cast<HelloWorld*>(data);
 
         // Object that manages the raw buffer.
-        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
-        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+        payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
 
         // Deserialize the object.
         deser >> *p_type;
@@ -130,52 +115,62 @@ bool HelloWorldPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
+uint32_t HelloWorldPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<HelloWorld*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const HelloWorld*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const HelloWorld*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* HelloWorldPubSubType::createData()
+void* HelloWorldPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new HelloWorld());
 }
 
-void HelloWorldPubSubType::deleteData(
+void HelloWorldPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<HelloWorld*>(data));
 }
 
-bool HelloWorldPubSubType::getKey(
+bool HelloWorldPubSubType::compute_key(
+        SerializedPayload_t& payload,
+        InstanceHandle_t& handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    HelloWorld data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool HelloWorldPubSubType::compute_key(
         const void* const data,
-        InstanceHandle_t* handle,
+        InstanceHandle_t& handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -183,35 +178,27 @@ bool HelloWorldPubSubType::getKey(
     const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             HelloWorld_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || HelloWorld_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle.value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle.value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.hpp b/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.hpp
index 556d4c0..c9b0647 100644
--- a/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.hpp
+++ b/examples/HelloWorldExampleDS/HelloWorldPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "HelloWorld.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated HelloWorld is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -54,38 +54,30 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport bool serialize(
             const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,10 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+private:
+
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };
 
diff --git a/resources/static_types/HelloWorldPubSubTypes.cxx b/resources/static_types/HelloWorldPubSubTypes.cxx
index ba7fa79..d66c141 100644
--- a/resources/static_types/HelloWorldPubSubTypes.cxx
+++ b/resources/static_types/HelloWorldPubSubTypes.cxx
@@ -31,49 +31,42 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;
 
 HelloWorldPubSubType::HelloWorldPubSubType()
 {
-    setName("HelloWorld");
-    uint32_t type_size =
-#if FASTCDR_VERSION_MAJOR == 1
-        static_cast<uint32_t>(HelloWorld::getMaxCdrSerializedSize());
-#else
-        HelloWorld_max_cdr_typesize;
-#endif
+    set_name("HelloWorld");
+    uint32_t type_size = HelloWorld_max_cdr_typesize;
     type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
-    m_typeSize = type_size + 4; /*encapsulation*/
-    m_isGetKeyDefined = false;
-    uint32_t keyLength = HelloWorld_max_key_cdr_typesize > 16 ? HelloWorld_max_key_cdr_typesize : 16;
-    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
-    memset(m_keyBuffer, 0, keyLength);
+    max_serialized_type_size = type_size + 4; /*encapsulation*/
+    is_compute_key_provided = false;
+    uint32_t key_length = HelloWorld_max_key_cdr_typesize > 16 ? HelloWorld_max_key_cdr_typesize : 16;
+    key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
+    memset(key_buffer_, 0, key_length);
 }
 
 HelloWorldPubSubType::~HelloWorldPubSubType()
 {
-    if (m_keyBuffer != nullptr)
+    if (key_buffer_ != nullptr)
     {
-        free(m_keyBuffer);
+        free(key_buffer_);
     }
 }
 
 bool HelloWorldPubSubType::serialize(
         const void* const data,
-        SerializedPayload_t* payload,
+        SerializedPayload_t& payload,
         DataRepresentationId_t data_representation)
 {
     const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
-    payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-#if FASTCDR_VERSION_MAJOR > 1
+    payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR  :
         eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
-#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -88,16 +81,12 @@ bool HelloWorldPubSubType::serialize(
     }
 
     // Get the serialized length
-#if FASTCDR_VERSION_MAJOR == 1
-    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
-#else
-    payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
-#endif // FASTCDR_VERSION_MAJOR == 1
+    payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
     return true;
 }
 
 bool HelloWorldPubSubType::deserialize(
-        SerializedPayload_t* payload,
+        SerializedPayload_t& payload,
         void* data)
 {
     try
@@ -106,18 +95,14 @@ bool HelloWorldPubSubType::deserialize(
         HelloWorld* p_type = static_cast<HelloWorld*>(data);
 
         // Object that manages the raw buffer.
-        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
+        eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
-#if FASTCDR_VERSION_MAJOR == 1
-                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
-#endif // FASTCDR_VERSION_MAJOR == 1
-                );
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
-        payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+        payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
 
         // Deserialize the object.
         deser >> *p_type;
@@ -130,52 +115,62 @@ bool HelloWorldPubSubType::deserialize(
     return true;
 }
 
-std::function<uint32_t()> HelloWorldPubSubType::getSerializedSizeProvider(
+uint32_t HelloWorldPubSubType::calculate_serialized_size(
         const void* const data,
         DataRepresentationId_t data_representation)
 {
-    return [data, data_representation]() -> uint32_t
-           {
-#if FASTCDR_VERSION_MAJOR == 1
-               static_cast<void>(data_representation);
-               return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<HelloWorld*>(data))) +
-                      4u /*encapsulation*/;
-#else
-               try
-               {
-                   eprosima::fastcdr::CdrSizeCalculator calculator(
-                       data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
-                       eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
-                   size_t current_alignment {0};
-                   return static_cast<uint32_t>(calculator.calculate_serialized_size(
-                               *static_cast<const HelloWorld*>(data), current_alignment)) +
-                           4u /*encapsulation*/;
-               }
-               catch (eprosima::fastcdr::exception::Exception& /*exception*/)
-               {
-                   return 0;
-               }
-#endif // FASTCDR_VERSION_MAJOR == 1
-           };
+    try
+    {
+        eprosima::fastcdr::CdrSizeCalculator calculator(
+            data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
+            eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
+        size_t current_alignment {0};
+        return static_cast<uint32_t>(calculator.calculate_serialized_size(
+                    *static_cast<const HelloWorld*>(data), current_alignment)) +
+                4u /*encapsulation*/;
+    }
+    catch (eprosima::fastcdr::exception::Exception& /*exception*/)
+    {
+        return 0;
+    }
 }
 
-void* HelloWorldPubSubType::createData()
+void* HelloWorldPubSubType::create_data()
 {
     return reinterpret_cast<void*>(new HelloWorld());
 }
 
-void HelloWorldPubSubType::deleteData(
+void HelloWorldPubSubType::delete_data(
         void* data)
 {
     delete(reinterpret_cast<HelloWorld*>(data));
 }
 
-bool HelloWorldPubSubType::getKey(
+bool HelloWorldPubSubType::compute_key(
+        SerializedPayload_t& payload,
+        InstanceHandle_t& handle,
+        bool force_md5)
+{
+    if (!is_compute_key_provided)
+    {
+        return false;
+    }
+
+    HelloWorld data;
+    if (deserialize(payload, static_cast<void*>(&data)))
+    {
+        return compute_key(static_cast<void*>(&data), handle, force_md5);
+    }
+
+    return false;
+}
+
+bool HelloWorldPubSubType::compute_key(
         const void* const data,
-        InstanceHandle_t* handle,
+        InstanceHandle_t& handle,
         bool force_md5)
 {
-    if (!m_isGetKeyDefined)
+    if (!is_compute_key_provided)
     {
         return false;
     }
@@ -183,35 +178,27 @@ bool HelloWorldPubSubType::getKey(
     const HelloWorld* p_type = static_cast<const HelloWorld*>(data);
 
     // Object that manages the raw buffer.
-    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
+    eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
             HelloWorld_max_key_cdr_typesize);
 
     // Object that serializes the data.
     eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
-#if FASTCDR_VERSION_MAJOR == 1
-    p_type->serializeKey(ser);
-#else
     eprosima::fastcdr::serialize_key(ser, *p_type);
-#endif // FASTCDR_VERSION_MAJOR == 1
     if (force_md5 || HelloWorld_max_key_cdr_typesize > 16)
     {
-        m_md5.init();
-#if FASTCDR_VERSION_MAJOR == 1
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
-#else
-        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
-#endif // FASTCDR_VERSION_MAJOR == 1
-        m_md5.finalize();
+        md5_.init();
+        md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
+        md5_.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_md5.digest[i];
+            handle.value[i] = md5_.digest[i];
         }
     }
     else
     {
         for (uint8_t i = 0; i < 16; ++i)
         {
-            handle->value[i] = m_keyBuffer[i];
+            handle.value[i] = key_buffer_[i];
         }
     }
     return true;
diff --git a/resources/static_types/HelloWorldPubSubTypes.hpp b/resources/static_types/HelloWorldPubSubTypes.hpp
index 556d4c0..c9b0647 100644
--- a/resources/static_types/HelloWorldPubSubTypes.hpp
+++ b/resources/static_types/HelloWorldPubSubTypes.hpp
@@ -32,10 +32,10 @@
 #include "HelloWorld.hpp"
 
 
-#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
 #error \
     Generated HelloWorld is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
-#endif  // GEN_API_VER
+#endif  // FASTDDS_GEN_API_VER
 
 
 /*!
@@ -54,38 +54,30 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
     eProsima_user_DllExport bool serialize(
             const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload) override
-    {
-        return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport bool serialize(
-            const void* const data,
-            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
     eProsima_user_DllExport bool deserialize(
-            eprosima::fastdds::rtps::SerializedPayload_t* payload,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
             void* data) override;
 
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
-            const void* const data) override
-    {
-        return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
-    }
-
-    eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
             const void* const data,
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
 
-    eProsima_user_DllExport bool getKey(
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
             const void* const data,
-            eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
             bool force_md5 = false) override;
 
-    eProsima_user_DllExport void* createData() override;
+    eProsima_user_DllExport void* create_data() override;
 
-    eProsima_user_DllExport void deleteData(
+    eProsima_user_DllExport void delete_data(
             void* data) override;
 
     //Register TypeObject representation in Fast DDS TypeObjectRegistry
@@ -100,10 +92,6 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 #endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
 
 #ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
-    eProsima_user_DllExport inline bool is_plain() const override
-    {
-        return false;
-    }
 
     eProsima_user_DllExport inline bool is_plain(
             eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
@@ -124,8 +112,10 @@ class HelloWorldPubSubType : public eprosima::fastdds::dds::TopicDataType
 
 #endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
 
-    eprosima::fastdds::MD5 m_md5;
-    unsigned char* m_keyBuffer;
+private:
+
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
 
 };