diff --git a/msg/templates/urtps/Publisher.cpp.em b/msg/templates/urtps/Publisher.cpp.em
index 71f375e5169..2b171e53f6e 100644
--- a/msg/templates/urtps/Publisher.cpp.em
+++ b/msg/templates/urtps/Publisher.cpp.em
@@ -95,13 +95,20 @@ bool @(topic)_Publisher::init()
     if(mp_participant == nullptr)
         return false;
 
+@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
+    // Type name should match the expected type name on ROS2
+    // Note: the change is being done here since the 'fastrtpsgen' example
+    // generator does not allow to change the type naming on the template
+    @(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
+@[end if]@
+
     // Register the type
-    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));
 
     // Create Publisher
     PublisherAttributes Wparam;
     Wparam.topic.topicKind = NO_KEY;
-    Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
+    Wparam.topic.topicDataType = @(topic)DataType.getName();
 @[if ros2_distro]@
 @[    if ros2_distro == "ardent"]@
     Wparam.qos.m_partition.push_back("rt");
diff --git a/msg/templates/urtps/Publisher.h.em b/msg/templates/urtps/Publisher.h.em
index 4b1b356efa9..b5aa12a37cf 100644
--- a/msg/templates/urtps/Publisher.h.em
+++ b/msg/templates/urtps/Publisher.h.em
@@ -111,15 +111,15 @@ private:
     } m_listener;
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
 @[    if ros2_distro]@
-    @(package)::msg::dds_::@(topic)_PubSubType myType;
+    @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
 @[    else]@
-    @(topic)_PubSubType myType;
+    @(topic)_PubSubType @(topic)DataType;
 @[    end if]@
 @[else]@
 @[    if ros2_distro]@
-    @(package)::msg::@(topic)PubSubType myType;
+    @(package)::msg::@(topic)PubSubType @(topic)DataType;
 @[    else]@
-    @(topic)PubSubType myType;
+    @(topic)PubSubType @(topic)DataType;
 @[    end if]@
 @[end if]@
 };
diff --git a/msg/templates/urtps/Subscriber.cpp.em b/msg/templates/urtps/Subscriber.cpp.em
index fd957052efc..54b6080f1e1 100644
--- a/msg/templates/urtps/Subscriber.cpp.em
+++ b/msg/templates/urtps/Subscriber.cpp.em
@@ -94,13 +94,21 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
     if(mp_participant == nullptr)
             return false;
 
+@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
+    // Type name should match the expected type name on ROS2
+    // Note: the change is being done here since the 'fastrtpsgen' example
+    // generator does not allow to change the type naming on the template of
+    // "*PubSubTypes.cpp" file
+    @(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
+@[end if]@
+
     //Register the type
-    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
+    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));
 
     // Create Subscriber
     SubscriberAttributes Rparam;
     Rparam.topic.topicKind = NO_KEY;
-    Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
+    Rparam.topic.topicDataType = @(topic)DataType.getName();
 @[if ros2_distro]@
 @[    if ros2_distro == "ardent"]@
     Rparam.qos.m_partition.push_back("rt");
diff --git a/msg/templates/urtps/Subscriber.h.em b/msg/templates/urtps/Subscriber.h.em
index c7c992b9a8f..dba740e100d 100644
--- a/msg/templates/urtps/Subscriber.h.em
+++ b/msg/templates/urtps/Subscriber.h.em
@@ -142,15 +142,15 @@ private:
     } m_listener;
 @[if 1.5 <= fastrtpsgen_version <= 1.7]@
 @[    if ros2_distro]@
-    @(package)::msg::dds_::@(topic)_PubSubType myType;
+    @(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
 @[    else]@
-    @(topic)_PubSubType myType;
+    @(topic)_PubSubType @(topic)DataType;
 @[    end if]@
 @[else]@
 @[    if ros2_distro]@
-    @(package)::msg::@(topic)PubSubType myType;
+    @(package)::msg::@(topic)PubSubType @(topic)DataType;
 @[    else]@
-    @(topic)PubSubType myType;
+    @(topic)PubSubType @(topic)DataType;
 @[    end if]@
 @[end if]@
 };