diff --git a/test/blackbox/common/DDSBlackboxTestsDSAutoMode.cpp b/test/blackbox/common/DDSBlackboxTestsDSAutoMode.cpp
new file mode 100644
index 0000000000..28255bd68c
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+++ b/test/blackbox/common/DDSBlackboxTestsDSAutoMode.cpp
@@ -0,0 +1,301 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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.
+
+#include <gtest/gtest.h>
+
+#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/rtps/common/PortParameters.hpp>
+#include <fastdds/rtps/common/Types.hpp>
+#include <fastdds/rtps/RTPSDomain.hpp>
+#include <utils/SystemCommandBuilder.hpp>
+
+#include "BlackboxTests.hpp"
+#include "PubSubReader.hpp"
+#include "PubSubWriter.hpp"
+
+
+void set_ros_discovery_server_auto_env()
+{
+    /* Set environment variable */
+#ifdef _WIN32
+    _putenv_s("ROS_DISCOVERY_SERVER", "AUTO");
+#else
+    setenv("ROS_DISCOVERY_SERVER", "AUTO", 1);
+#endif // _WIN32
+
+}
+
+void stop_background_servers()
+{
+    // Stop server
+    eprosima::fastdds::SystemCommandBuilder sys_command;
+    sys_command.executable("fastdds")
+            .verb("discovery")
+            .verb("stop")
+            .arg("all")
+            .build_and_call();
+}
+
+/**
+ * Refers to FASTDDS-DSAUTO-TEST:01 from the test plan.
+ *
+ * Launching a participant client with the environment variable ROS_DISCOVERY_SERVER
+ * set to AUTO correctly launches and discovers a Discovery Server in the expected
+ * domain.
+ *
+ */
+TEST(DSAutoMode, ros_discovery_server_auto_env_correctly_launches)
+{
+    PubSubWriter<HelloWorldPubSubType> writer(TEST_TOPIC_NAME);
+    PubSubReader<HelloWorldPubSubType> reader(TEST_TOPIC_NAME);
+
+    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Configures as SUPER_CLIENT SHM and TCP
+    set_ros_discovery_server_auto_env();
+
+    std::atomic<bool> writer_background_ds_discovered(false);
+    std::atomic<bool> reader_background_ds_discovered(false);
+
+    writer.set_on_discovery_function(
+        [&writer_background_ds_discovered](
+            const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& data,
+            eprosima::fastdds::rtps::ParticipantDiscoveryStatus)
+        {
+            if (data.participant_name == "DiscoveryServerAuto")
+            {
+                writer_background_ds_discovered.store(true);
+            }
+            return true;
+        });
+    writer.init();
+
+    reader.set_on_discovery_function(
+        [&reader_background_ds_discovered](const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& data,
+        eprosima::fastdds::rtps::ParticipantDiscoveryStatus)
+        {
+            if (data.participant_name == "DiscoveryServerAuto")
+            {
+                reader_background_ds_discovered.store(true);
+            }
+            return true;
+        });
+    reader.init();
+
+    ASSERT_TRUE(writer.isInitialized());
+    ASSERT_TRUE(reader.isInitialized());
+
+    // Wait for endpoint discovery first
+    writer.wait_discovery();
+    reader.wait_discovery();
+
+    // Two participants are expected to have been discovered:
+    // Backgroud DS and the other reader/writer
+    ASSERT_GE(writer.get_participants_matched(), 2u);
+    ASSERT_GE(reader.get_participants_matched(), 2u);
+    ASSERT_TRUE(writer_background_ds_discovered.load());
+    ASSERT_TRUE(reader_background_ds_discovered.load());
+
+    auto data = default_helloworld_data_generator();
+
+    reader.startReception(data);
+    writer.send(data);
+    ASSERT_TRUE(data.empty());
+
+    reader.block_for_all();
+
+    // Stop server
+    stop_background_servers();
+}
+
+/**
+ * Refers to FASTDDS-DSAUTO-TEST:02 from the test plan.
+ *
+ * TCP and SHM are the transports used in ROS_DISCOVERY_SERVER=AUTO.
+ */
+TEST(DSAutoMode, ros_discovery_server_auto_env_correct_transports_are_used)
+{
+    PubSubWriter<HelloWorldPubSubType> writer_udp(TEST_TOPIC_NAME), writer_auto(TEST_TOPIC_NAME);
+    PubSubReader<HelloWorldPubSubType> reader_auto(TEST_TOPIC_NAME);
+
+    auto udpv4_transport = std::make_shared<UDPv4TransportDescriptor>();
+
+    writer_udp.disable_builtin_transport()
+            .add_user_transport_to_pparams(udpv4_transport)
+            .init();
+
+    ASSERT_TRUE(writer_udp.isInitialized());
+
+    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Configures as SUPER_CLIENT SHM and TCP
+    set_ros_discovery_server_auto_env();
+
+    std::atomic<bool> locators_match_ds_auto_transport(true);
+
+    reader_auto.set_on_discovery_function(
+        [&locators_match_ds_auto_transport](const eprosima::fastdds::rtps::ParticipantBuiltinTopicData& data,
+        eprosima::fastdds::rtps::ParticipantDiscoveryStatus)
+        {
+            for (auto locator : data.metatraffic_locators.unicast)
+            {
+                locators_match_ds_auto_transport.store( locators_match_ds_auto_transport &&
+                (locator.kind == LOCATOR_KIND_TCPv4 || locator.kind == LOCATOR_KIND_SHM));
+            }
+
+            if (!data.metatraffic_locators.multicast.empty())
+            {
+                locators_match_ds_auto_transport.store(false);
+            }
+
+            return true;
+        });
+    reader_auto.init();
+
+    ASSERT_TRUE(reader_auto.isInitialized());
+
+    // Discovery shall not happen
+    writer_udp.wait_discovery(std::chrono::seconds(1));
+    reader_auto.wait_discovery(std::chrono::seconds(1));
+
+    ASSERT_FALSE(writer_udp.is_matched());
+    ASSERT_FALSE(reader_auto.is_matched());
+
+    // Now launch another DS AUTO participant writer
+    writer_auto.init();
+
+    writer_auto.wait_discovery();
+    reader_auto.wait_discovery();
+
+    ASSERT_TRUE(locators_match_ds_auto_transport.load());
+
+    // Stop server
+    stop_background_servers();
+}
+
+/**
+ * Refers to FASTDDS-DSAUTO-TEST:03 from the test plan.
+ *
+ * Client participants are aware of the discovery
+ * information of the rest of participants in the same domain.
+ */
+TEST(DSAutoMode, ros_discovery_server_auto_env_discovery_info)
+{
+    std::size_t num_writers = 3;
+    std::vector<std::shared_ptr<PubSubWriter<HelloWorldPubSubType>>> writers;
+    writers.reserve(num_writers);
+    PubSubReader<HelloWorldPubSubType> reader_auto(TEST_TOPIC_NAME + "_auto");
+
+    for (std::size_t i = 0; i < num_writers; ++i)
+    {
+        writers.emplace_back(std::make_shared<PubSubWriter<HelloWorldPubSubType>>(TEST_TOPIC_NAME + std::to_string(i)));
+
+        eprosima::fastdds::dds::WireProtocolConfigQos wire_protocol_qos;
+
+        wire_protocol_qos.builtin.discovery_config.discoveryProtocol =
+                eprosima::fastdds::rtps::DiscoveryProtocol::CLIENT;
+
+        eprosima::fastdds::rtps::Locator_t locator;
+        locator.kind = LOCATOR_KIND_TCPv4;
+
+        eprosima::fastdds::rtps::PortParameters port_params;
+
+        auto ds_auto_port = port_params.getDiscoveryServerPort((uint32_t)GET_PID() % 230);
+
+        IPLocator::setPhysicalPort(locator, ds_auto_port);
+        IPLocator::setLogicalPort(locator, ds_auto_port);
+        IPLocator::setIPv4(locator, "127.0.0.1");
+
+        // Point to the well known DS port in the corresponding domain
+        wire_protocol_qos.builtin.discovery_config.m_DiscoveryServers.push_back(locator);
+
+        writers.back()->set_wire_protocol_qos(wire_protocol_qos)
+                .disable_builtin_transport()
+                .setup_large_data_tcp()
+                .init();
+
+        ASSERT_TRUE(writers.back()->isInitialized());
+    }
+
+    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Configures as SUPER_CLIENT SHM and TCP
+    set_ros_discovery_server_auto_env();
+
+    reader_auto.init();
+    ASSERT_TRUE(reader_auto.isInitialized());
+
+    // Discovery DS in Domain 0 + num_writers
+    reader_auto.wait_participant_discovery(num_writers + 1);
+
+    // This participant shall discover all the other participants
+    // Despite not sharing a common topic with them (SUPER_CLIENT)
+    ASSERT_EQ(reader_auto.get_participants_matched(), num_writers + 1u);
+
+    for (auto& writer : writers)
+    {
+        // Writers shall discover SERVER participant only
+        ASSERT_LE(writer->get_participants_matched(), 1u);
+    }
+
+    // Stop server
+    stop_background_servers();
+}
+
+/**
+ * Refers to FASTDDS-DSAUTO-TEST:04 from the test plan.
+ *
+ * Launching participant clients in different domains with
+ * ROS_DISCOVERY_SERVER set to AUTO correctly
+ * launch and discover the Discovery Server in its domain.
+ */
+TEST(DSAutoMode, ros_discovery_server_auto_env_multiple_clients_multiple_domains)
+{
+    std::size_t num_writer_reader_pairs = 5;
+
+    std::vector<std::shared_ptr<PubSubWriter<HelloWorldPubSubType>>> writers;
+    std::vector<std::shared_ptr<PubSubReader<HelloWorldPubSubType>>> readers;
+
+    // Setting ROS_DISCOVERY_SERVER to AUTO
+    // Configures as SUPER_CLIENT SHM and TCP
+    set_ros_discovery_server_auto_env();
+
+    for (std::size_t i = 10; i < 10 + num_writer_reader_pairs; ++i)
+    {
+        writers.emplace_back(std::make_shared<PubSubWriter<HelloWorldPubSubType>>(TEST_TOPIC_NAME + "_domain_" +
+                std::to_string(i)));
+        readers.emplace_back(std::make_shared<PubSubReader<HelloWorldPubSubType>>(TEST_TOPIC_NAME + "_domain_" +
+                std::to_string(i)));
+
+        writers.back()->set_domain_id((uint32_t)i)
+                .init();
+        readers.back()->set_domain_id((uint32_t)i)
+                .init();
+    }
+
+    for (std::size_t i = 0; i < num_writer_reader_pairs; ++i)
+    {
+        writers[i]->wait_discovery();
+        readers[i]->wait_discovery();
+
+        auto data = default_helloworld_data_generator();
+
+        readers[i]->startReception(data);
+        writers[i]->send(data);
+        ASSERT_TRUE(data.empty());
+
+        readers[i]->block_for_all();
+    }
+
+    // Stop servers
+    stop_background_servers();
+}