diff --git a/include/fastdds/rtps/writer/StatelessPersistentWriter.h b/include/fastdds/rtps/writer/StatelessPersistentWriter.h
index d7ef75b01b9..2be11c83692 100644
--- a/include/fastdds/rtps/writer/StatelessPersistentWriter.h
+++ b/include/fastdds/rtps/writer/StatelessPersistentWriter.h
@@ -20,7 +20,7 @@
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 #include <fastdds/rtps/writer/PersistentWriter.h>
 
 namespace eprosima {
diff --git a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
index a8ec878e3bf..5fdc48d0f97 100644
--- a/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpointsSecure.hpp
@@ -25,7 +25,7 @@
 #include <fastdds/rtps/common/EntityId_t.hpp>
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/discovery/participant/DS/DiscoveryServerPDPEndpoints.hpp>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
index 5094f2cfbaa..d0a1bfbb1d9 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
@@ -33,7 +33,7 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
 #include <fastdds/utils/IPLocator.h>
@@ -49,7 +49,7 @@
 #include <rtps/resources/TimedEvent.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <utils/shared_mutex.hpp>
 #include <utils/TimeConversion.hpp>
 
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index 73dda8f7099..3f70e6d1585 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -27,7 +27,7 @@
 #include <fastdds/rtps/history/ReaderHistory.h>
 #include <fastdds/rtps/history/WriterHistory.h>
 #include <fastdds/rtps/participant/RTPSParticipantListener.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 
 #include <fastdds/builtin/type_lookup_service/TypeLookupManager.hpp>
 #include <fastdds/utils/IPLocator.h>
@@ -44,7 +44,7 @@
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
 #include <rtps/resources/TimedEvent.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
index a405b501426..5002a2f094f 100644
--- a/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
+++ b/src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
@@ -22,12 +22,12 @@
 #include <memory>
 
 #include <fastdds/rtps/builtin/data/BuiltinEndpoints.hpp>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 #include <rtps/builtin/BuiltinReader.hpp>
 #include <rtps/builtin/BuiltinWriter.hpp>
 #include <rtps/builtin/discovery/participant/PDPEndpoints.hpp>
 #include <rtps/history/ITopicPayloadPool.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastdds {
diff --git a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
index 51cff850fa9..e9de13cc52a 100644
--- a/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+++ b/src/cpp/rtps/participant/RTPSParticipantImpl.cpp
@@ -43,8 +43,8 @@
 #include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 #include <fastdds/rtps/writer/StatefulPersistentWriter.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
-#include <fastdds/rtps/writer/StatelessPersistentWriter.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessPersistentWriter.hpp>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 #include <fastdds/utils/IPFinder.h>
 
 #include <rtps/builtin/BuiltinProtocols.h>
@@ -61,9 +61,9 @@
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/persistence/PersistenceService.h>
 #include <rtps/reader/StatefulPersistentReader.h>
-#include <rtps/reader/StatelessPersistentReader.h>
+#include <rtps/reader/StatelessPersistentReader.hpp>
 #include <rtps/reader/StatefulReader.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <statistics/rtps/GuidUtils.hpp>
 #include <utils/Semaphore.hpp>
 #include <utils/string_utilities.hpp>
diff --git a/src/cpp/rtps/reader/StatefulPersistentReader.h b/src/cpp/rtps/reader/StatefulPersistentReader.hpp
similarity index 98%
rename from src/cpp/rtps/reader/StatefulPersistentReader.h
rename to src/cpp/rtps/reader/StatefulPersistentReader.hpp
index 0801bf11690..5ecd8834202 100644
--- a/src/cpp/rtps/reader/StatefulPersistentReader.h
+++ b/src/cpp/rtps/reader/StatefulPersistentReader.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file StatefulPersistentReader.h
+ * @file StatefulPersistentReader.hpp
  */
 
 
diff --git a/src/cpp/rtps/reader/StatefulReader.h b/src/cpp/rtps/reader/StatefulReader.hpp
similarity index 99%
rename from src/cpp/rtps/reader/StatefulReader.h
rename to src/cpp/rtps/reader/StatefulReader.hpp
index 3ec511b5d8a..b35fad8a9f2 100644
--- a/src/cpp/rtps/reader/StatefulReader.h
+++ b/src/cpp/rtps/reader/StatefulReader.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file .h
+ * @file StatefulReader.hpp
  */
 
 #ifndef _FASTDDS_RTPS_READER_STATEFULREADER_H_
diff --git a/src/cpp/rtps/reader/StatelessPersistentReader.cpp b/src/cpp/rtps/reader/StatelessPersistentReader.cpp
index db326ac5eee..d82a2b4c179 100644
--- a/src/cpp/rtps/reader/StatelessPersistentReader.cpp
+++ b/src/cpp/rtps/reader/StatelessPersistentReader.cpp
@@ -17,7 +17,7 @@
  *
  */
 
-#include <rtps/reader/StatelessPersistentReader.h>
+#include <rtps/reader/StatelessPersistentReader.hpp>
 
 #include <fastdds/rtps/history/ReaderHistory.h>
 
diff --git a/src/cpp/rtps/reader/StatelessPersistentReader.h b/src/cpp/rtps/reader/StatelessPersistentReader.hpp
similarity index 97%
rename from src/cpp/rtps/reader/StatelessPersistentReader.h
rename to src/cpp/rtps/reader/StatelessPersistentReader.hpp
index cb775976999..4dfce41014d 100644
--- a/src/cpp/rtps/reader/StatelessPersistentReader.h
+++ b/src/cpp/rtps/reader/StatelessPersistentReader.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file StatelessPersistentReader.h
+ * @file StatelessPersistentReader.hpp
  */
 
 
@@ -21,7 +21,7 @@
 #define _FASTDDS_RTPS_STATELESSPERSISTENTREADER_H_
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 namespace eprosima {
 namespace fastrtps {
diff --git a/src/cpp/rtps/reader/StatelessReader.cpp b/src/cpp/rtps/reader/StatelessReader.cpp
index e535e1c58f9..2b1c6b91d17 100644
--- a/src/cpp/rtps/reader/StatelessReader.cpp
+++ b/src/cpp/rtps/reader/StatelessReader.cpp
@@ -32,7 +32,7 @@
 #include <rtps/DataSharing/DataSharingListener.hpp>
 #include <rtps/DataSharing/ReaderPool.hpp>
 #include <rtps/participant/RTPSParticipantImpl.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <rtps/writer/LivelinessManager.hpp>
 
 #include "rtps/RTPSDomainImpl.hpp"
diff --git a/src/cpp/rtps/reader/StatelessReader.h b/src/cpp/rtps/reader/StatelessReader.hpp
similarity index 99%
rename from src/cpp/rtps/reader/StatelessReader.h
rename to src/cpp/rtps/reader/StatelessReader.hpp
index 82cf03ab77c..89e4c38b59a 100644
--- a/src/cpp/rtps/reader/StatelessReader.h
+++ b/src/cpp/rtps/reader/StatelessReader.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file StatelessReader.h
+ * @file StatelessReader.hpp
  */
 
 
diff --git a/src/cpp/rtps/security/SecurityManager.cpp b/src/cpp/rtps/security/SecurityManager.cpp
index 6daca9e4a49..3a9ca870c09 100644
--- a/src/cpp/rtps/security/SecurityManager.cpp
+++ b/src/cpp/rtps/security/SecurityManager.cpp
@@ -37,7 +37,7 @@
 #include <fastdds/rtps/security/accesscontrol/SecurityMaskUtilities.h>
 #include <fastdds/rtps/security/authentication/Authentication.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 
 #include <rtps/builtin/discovery/endpoint/EDP.h>
 #include <rtps/builtin/discovery/participant/PDP.h>
@@ -46,7 +46,7 @@
 #include <rtps/network/NetworkFactory.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <security/OpenSSLInit.hpp>
 
 #define BUILTIN_ENDPOINT_PARTICIPANT_MESSAGE_SECURE_WRITER (1 << 20)
diff --git a/src/cpp/rtps/transport/tcp/RTCPMessageManager.h b/src/cpp/rtps/transport/tcp/RTCPMessageManager.h
index e386aac8880..c7556b699a9 100644
--- a/src/cpp/rtps/transport/tcp/RTCPMessageManager.h
+++ b/src/cpp/rtps/transport/tcp/RTCPMessageManager.h
@@ -24,7 +24,7 @@
 #include <atomic>
 
 #include <fastdds/rtps/common/all_common.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 #include <rtps/transport/tcp/TCPControlMessage.h>
 #include <rtps/transport/tcp/RTCPHeader.h>
diff --git a/src/cpp/rtps/writer/StatelessPersistentWriter.cpp b/src/cpp/rtps/writer/StatelessPersistentWriter.cpp
index 698084697ca..0769d3d536a 100644
--- a/src/cpp/rtps/writer/StatelessPersistentWriter.cpp
+++ b/src/cpp/rtps/writer/StatelessPersistentWriter.cpp
@@ -17,7 +17,7 @@
  *
  */
 
-#include <fastdds/rtps/writer/StatelessPersistentWriter.h>
+#include <fastdds/rtps/writer/StatelessPersistentWriter.hpp>
 
 #include <fastdds/rtps/history/WriterHistory.h>
 
diff --git a/src/cpp/rtps/writer/StatelessWriter.cpp b/src/cpp/rtps/writer/StatelessWriter.cpp
index 3b5a373736a..3f76f70f683 100644
--- a/src/cpp/rtps/writer/StatelessWriter.cpp
+++ b/src/cpp/rtps/writer/StatelessWriter.cpp
@@ -17,7 +17,7 @@
  *
  */
 
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 
 #include <algorithm>
 #include <mutex>
diff --git a/test/mock/rtps/MessageReceiver/rtps/messages/MessageReceiver.h b/test/mock/rtps/MessageReceiver/rtps/messages/MessageReceiver.h
index 8c149cb7fdf..59b41027bb8 100644
--- a/test/mock/rtps/MessageReceiver/rtps/messages/MessageReceiver.h
+++ b/test/mock/rtps/MessageReceiver/rtps/messages/MessageReceiver.h
@@ -23,7 +23,7 @@
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 #include <fastdds/rtps/common/all_common.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 #include <fastdds/rtps/writer/StatefulWriter.h>
 
 
diff --git a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
index f62c6f52d51..3cd4f008841 100644
--- a/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
+++ b/test/unittest/dds/subscriber/DataReaderHistoryTests.cpp
@@ -3,7 +3,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastdds/dds/topic/Topic.hpp>
 #include <fastdds/utils/TimedMutex.hpp>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 
 
 #include <gmock/gmock.h>
diff --git a/test/unittest/rtps/security/SecurityTests.hpp b/test/unittest/rtps/security/SecurityTests.hpp
index eee75639488..fefa6a28870 100644
--- a/test/unittest/rtps/security/SecurityTests.hpp
+++ b/test/unittest/rtps/security/SecurityTests.hpp
@@ -23,12 +23,12 @@
 #include <fastdds/rtps/security/accesscontrol/ParticipantSecurityAttributes.h>
 #include <fastdds/rtps/security/common/Handle.h>
 #include <fastdds/rtps/writer/StatefulWriter.h>
-#include <fastdds/rtps/writer/StatelessWriter.h>
+#include <fastdds/rtps/writer/StatelessWriter.hpp>
 
 #include <rtps/builtin/discovery/participant/PDP.h>
 #include <rtps/participant/RTPSParticipantImpl.h>
 #include <rtps/reader/StatefulReader.h>
-#include <rtps/reader/StatelessReader.h>
+#include <rtps/reader/StatelessReader.hpp>
 #include <rtps/security/MockAuthenticationPlugin.h>
 #include <rtps/security/MockCryptographyPlugin.h>
 #include <rtps/security/SecurityManager.h>