diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index d63d4049b63..54aca65168b 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -91,7 +91,7 @@ bool @(topic)_Publisher::init()
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0;
-@[if version.parse(fastrtps_version) <= version.parse('1.8')]@
+@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index 8583379fc5c..4b764774387 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -91,7 +91,7 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
     // Create RTPSParticipant
     ParticipantAttributes PParam;
     PParam.rtps.builtin.domainId = 0; // MUST BE THE SAME AS IN THE PUBLISHER
-@[if version.parse(fastrtps_version) <= version.parse('1.8')]@
+@[if version.parse(fastrtps_version[:3]) <= version.parse('1.8')]@
     PParam.rtps.builtin.leaseDuration = c_TimeInfinite;
 @[else]@
     PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;