diff --git a/CMake/Findfoonathan_memory.cmake b/CMake/Findfoonathan_memory.cmake
new file mode 100644
index 00000000000..0f1f49a86dc
--- /dev/null
+++ b/CMake/Findfoonathan_memory.cmake
@@ -0,0 +1,35 @@
+
+# This is a dummy file, just so CMake does not complain:
+
+# CMake Error at build/third-party/fastdds/CMakeLists.txt:239 (find_package):
+#   By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this
+#   project has asked CMake to find a package configuration file provided by
+#   "foonathan_memory", but CMake did not find one.
+#
+#   Could not find a package configuration file provided by "foonathan_memory"
+#   with any of the following names:
+#
+#     foonathan_memoryConfig.cmake
+#     foonathan_memory-config.cmake
+#
+#   Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or
+#   set "foonathan_memory_DIR" to a directory containing one of the above
+#   files.  If "foonathan_memory" provides a separate development package or
+#   SDK, be sure it has been installed.
+
+# FastDDS requires foonathan_memory and will not find it if we do not provide this
+# file.
+#
+# Since all the variables should already be set by external_foonathan_memory.cmake,
+# we don't really do anything.
+
+# This may not be the proper way to do this. But it works...
+
+
+#message( "In Findfoonathan_memory.cmake" )
+
+
+#find_package( PkgConfig )
+#pkg_check_modules( foonathan_memory QUIET foonathan_memory )
+
+
diff --git a/CMake/external_fastdds.cmake b/CMake/external_fastdds.cmake
index 8c6739e7b8f..126c9ba9eab 100644
--- a/CMake/external_fastdds.cmake
+++ b/CMake/external_fastdds.cmake
@@ -47,13 +47,13 @@ function(get_fastdds)
     mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FASTDDS)
 
     # place FastDDS project with other 3rd-party projects
-    set_target_properties(fastcdr fastrtps PROPERTIES
+    set_target_properties(fastcdr fastrtps foonathan_memory PROPERTIES
                           FOLDER "ExternalProjectTargets/fastdds")
 
     list(POP_BACK CMAKE_MESSAGE_INDENT) # Unindent outputs
 
     add_library(dds INTERFACE)
-    target_link_libraries(dds INTERFACE  fastcdr fastrtps)
+    target_link_libraries( dds INTERFACE fastcdr fastrtps )
 
     add_definitions(-DBUILD_WITH_DDS)
 
diff --git a/CMake/external_foonathan_memory.cmake b/CMake/external_foonathan_memory.cmake
index bcff6b4e3e9..20c3b3ea1d6 100644
--- a/CMake/external_foonathan_memory.cmake
+++ b/CMake/external_foonathan_memory.cmake
@@ -13,7 +13,7 @@ list(APPEND CMAKE_MESSAGE_INDENT "  ")
 FetchContent_Declare(
   foonathan_memory
   GIT_REPOSITORY https://github.com/foonathan/memory.git
-  GIT_TAG        "v0.7-2"
+  GIT_TAG        "v0.7-3"
   GIT_SHALLOW ON    # No history needed
   SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory
 )
@@ -22,7 +22,7 @@ FetchContent_Declare(
 set(FOONATHAN_MEMORY_BUILD_VARS -DBUILD_SHARED_LIBS=OFF             # explicit set static lib
                                 -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF 
                                 -DFOONATHAN_MEMORY_BUILD_TESTS=OFF
-                                -DFOONATHAN_MEMORY_BUILD_TOOLS=ON)  # this tool is needed during configure time only, FastDDS recommend turning it ON.
+                                -DFOONATHAN_MEMORY_BUILD_TOOLS=OFF)
    
 # Align STATIC CRT definitions with LRS   
 if(BUILD_WITH_STATIC_CRT)
@@ -45,39 +45,13 @@ mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY)
 mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY)
 
 
-# Configure stage
-execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/fastdds/fastdds_install
-                                                                   ${FOONATHAN_MEMORY_BUILD_VARS}
-                                                                   . 
-                                                                    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-                                                                    OUTPUT_QUIET
-                                                                    RESULT_VARIABLE configure_ret
-)
+add_subdirectory( "${foonathan_memory_SOURCE_DIR}" )
 
-# Build and install Debug version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config Debug --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE debug_build_ret
-)
 
-# Build and install RelWithDeb version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config RelWithDebInfo --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE rel_with_deb_info_build_ret
-)
-
-# Build and install Release version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config Release --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE release_build_ret
-)
+# Without this line, everything seems to work but find_package() will give:
+#     Found foonathan_memory: foonathan_memory_DIR-NOTFOUND
+set( foonathan_memory_DIR "${foonathan_memory_SOURCE_DIR}" )
 
- if(configure_ret OR debug_build_ret OR release_build_ret OR rel_with_deb_info_build_ret)
-        message( FATAL_ERROR "Failed to build foonathan_memory")
- endif()
 
 list(POP_BACK CMAKE_MESSAGE_INDENT)
 message(CHECK_PASS "Done")